263 lines
7.5 KiB
XML
263 lines
7.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.3">
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<!-- model_1: pendulum rod body and a sphere point mass attached by fixed
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joint at the end of the rod.
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model_2: pendulum rod body with same mass properties as model_1.
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model_3: same as model_2 but perpendicular to it.
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-->
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<world name="default">
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<gui>
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<camera name="user_camera">
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<pose>-25 -15 12.053900 0.000000 0.2 0.352194</pose>
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</camera>
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</gui>
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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><uri>model://sun</uri></include>
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<physics type="ode">
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<gravity>0.0 0.0 -9.81</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<dt>0.001</dt>
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<iters>1000</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>1.0</erp>
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<contact_max_correcting_vel>0.0</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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</physics>
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<model name="model_1">
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<pose>0.0 0.0 10.1 1.57079633 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>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1e-1</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1e-1</iyy>
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<iyz>0.0</iyz>
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<izz>1e-1</izz>
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</inertia>
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<mass>5.0</mass>
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</inertial>
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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>10.0</length>
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</cylinder>
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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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</visual>
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<collision name="collision_cylinder">
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<pose>0.0 0.0 -5.0 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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<cylinder>
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<radius>0.05</radius>
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<length>10.0</length>
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</cylinder>
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</geometry>
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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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<joint name="joint_0" type="revolute">
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<parent>world</parent>
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<child>link_1</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>1.0 0.0 0.0</xyz>
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</axis>
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</joint>
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<link name="link_2">
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<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<inertial>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1e-1</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1e-1</iyy>
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<iyz>0.0</iyz>
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<izz>1e-1</izz>
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</inertia>
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<mass>5.0</mass>
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</inertial>
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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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<visual name="visual_sphere">
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/Red</script>
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</material>
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</visual>
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<collision name="collision_sphere">
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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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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<joint name="joint_1" type="revolute">
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<parent>link_1</parent>
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<child>link_2</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<effort>0</effort>
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<velocity>0</velocity>
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</limit>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<static>false</static>
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</model>
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<model name="model_2">
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<pose>1.0 0.0 10.1 1.57079633 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>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1e-1</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1e-1</iyy>
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<iyz>0.0</iyz>
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<izz>1e-1</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>10.0</length>
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</cylinder>
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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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</visual>
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<collision name="collision_cylinder">
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<pose>0.0 0.0 -5.0 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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<cylinder>
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<radius>0.1</radius>
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<length>10.0</length>
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</cylinder>
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</geometry>
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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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<joint name="joint_0" type="revolute">
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<parent>world</parent>
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<child>link_1</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>1.0 0.0 0.0</xyz>
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</axis>
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</joint>
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<static>false</static>
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</model>
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<model name="model_3">
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<pose>0.0 -10.5 10.1 0.0 1.57079633 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>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1e-1</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1e-1</iyy>
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<iyz>0.0</iyz>
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<izz>1e-1</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>10.0</length>
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</cylinder>
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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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</visual>
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<collision name="collision_cylinder">
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<pose>0.0 0.0 -5.0 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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<cylinder>
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<radius>0.1</radius>
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<length>10.0</length>
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</cylinder>
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</geometry>
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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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<joint name="joint_0" type="revolute">
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<parent>world</parent>
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<child>link_1</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>0.0 1.0 0.0</xyz>
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</axis>
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</joint>
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<static>false</static>
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</model>
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</world>
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</sdf>
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