137 lines
3.8 KiB
XML
137 lines
3.8 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<scene>
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<ambient>0.5 0.5 0.5 1</ambient>
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<background>0.5 0.5 0.5 1</background>
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<shadows>false</shadows>
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</scene>
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<include>
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<uri>model://sun</uri>
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</include>
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<physics type="ode">
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<gravity>0.0 0.0 -10.0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>100</iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.001</max_step_size>
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</physics>
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<!-- model slides when cg is 0.3 0 0 -->
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<model name="model_1">
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<pose>0.5 -0.5 0.5 0.0 0.0 0.0</pose>
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<link name="link_1">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertial>
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<pose>0.45 0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.0</iyy>
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<iyz>0.0</iyz>
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<izz>1.0</izz>
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</inertia>
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<mass>10000.0</mass>
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</inertial>
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<visual name="visual_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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<laser_retro>100.0</laser_retro>
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</visual>
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<collision name="collision_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100.0</mu>
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<mu2>100.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>1000000000000.0</kp>
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<kd>10000000000.0</kd>
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<max_vel>0</max_vel>
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<min_depth>0.0</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>100.0</laser_retro>
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</collision>
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<gravity>true</gravity>
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<self_collide>true</self_collide>
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<kinematic>false</kinematic>
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</link>
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<static>false</static>
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</model>
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<!-- by shifting cg down, the block will not slide.
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coupling of box rotation and the moment arm about contact points
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<model name="model_2" static="false">
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<origin pose="0.5 1.5 0.5 0 0.0 0.0"/>
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<link name="link_1" self_collide="true" gravity="true" kinematic="false">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<inertial mass="10000.0">
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<origin pose="0.45 0.0 -0.5 0.0 0.0 0.0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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<visual name="visual_box" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material script="Gazebo/Green"/>
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</visual>
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<collision name="collision_box" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<surface>
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<contact>
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<ode kp="1000000000000.0" kd="100000000.0" max_vel="0"/>
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</contact>
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</surface>
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</collision>
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</link>
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</model>
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-->
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</world>
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</sdf>
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