1447 lines
41 KiB
XML
1447 lines
41 KiB
XML
<?xml version="1.0" ?>
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<include>
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<uri>model://ground_plane</uri>
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<plugin name='sphere_3' filename='libInitialVelocityPlugin.so'>
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<plugin name='sphere_4' filename='libInitialVelocityPlugin.so'>
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<linear>0 0 0</linear>
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<plugin name='box_low_cog_1' filename='libInitialVelocityPlugin.so'>
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<plugin name='box_low_cog_2' filename='libInitialVelocityPlugin.so'>
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<linear>0 0 0</linear>
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<angular>0 0 6.283185307179586</angular>
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<model name='box_low_cog_3'>
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<mu>0.005</mu>
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</visual>
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<plugin name='box_low_cog_3' filename='libInitialVelocityPlugin.so'>
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<linear>0 0 0</linear>
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<angular>0 0 6.283185307179586</angular>
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<model name='box_low_cog_4'>
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<mass>21.6</mass>
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<mu>0.01</mu>
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<plugin name='box_low_cog_4' filename='libInitialVelocityPlugin.so'>
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<linear>0 0 0</linear>
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<angular>0 0 6.283185307179586</angular>
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</plugin>
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</model>
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<model name='box_low_cog_5'>
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<allow_auto_disable>0</allow_auto_disable>
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<mass>21.6</mass>
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<ixx>0.14400000000000004</ixx>
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<collision name="collision">
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<geometry>
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<box>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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<torsional>
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<coefficient>1.0</coefficient>
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<patch_radius>2.0</patch_radius>
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</visual>
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</link>
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<plugin name='box_low_cog_5' filename='libInitialVelocityPlugin.so'>
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<linear>0 0 0</linear>
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<angular>0 0 6.283185307179586</angular>
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</plugin>
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</model>
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<model name='pinch_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.2043255373859678 6 0.6021627686929839 0 0 0</pose>
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<link name="box">
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<self_collide>true</self_collide>
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<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<mass>16.0</mass>
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<izz>0.0034666666666666674</izz>
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<iyz>0.0</iyz>
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<box>
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</box>
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<ode>
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<mu>1000.0</mu>
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<mu2>1000.0</mu2>
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</ode>
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<torsional>
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<coefficient>0.0</coefficient>
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<patch_radius>2.0</patch_radius>
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<link name="sphere_1">
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<pose>0 0.015000000000000003 0 0 0 0</pose>
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<sphere>
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<pose>0 -0.015000000000000003 0 0 0 0</pose>
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<sphere>
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<ode>
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<mu>1000.0</mu>
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<patch_radius>2.0</patch_radius>
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<joint name = "joint_1" type="prismatic">
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<parent>world</parent>
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<child>sphere_1</child>
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<axis>
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<xyz>0 -1 0</xyz>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>1000000</spring_stiffness>
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<spring_reference>0.002</spring_reference>
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</dynamics>
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<joint name = "joint_2" type="prismatic">
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<parent>world</parent>
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<child>sphere_2</child>
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<axis>
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<xyz>0 1 0</xyz>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>1000000</spring_stiffness>
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<spring_reference>0.002</spring_reference>
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</dynamics>
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</model>
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<model name='pinch_2'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>2.4086510747719356 6 0.6021627686929839 0 0 0</pose>
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<link name="box">
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<self_collide>true</self_collide>
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<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<mass>16.0</mass>
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<iyz>0.0</iyz>
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<geometry>
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<box>
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<size>0.05 0.010000000000000002 0.6000000000000001</size>
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<ode>
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<mu>1000.0</mu>
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<coefficient>0.001</coefficient>
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<patch_radius>2.0</patch_radius>
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<pose>0 0.015000000000000003 0 0 0 0</pose>
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<sphere>
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<ode>
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<mu>1000.0</mu>
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</ode>
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<torsional>
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<coefficient>0.001</coefficient>
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<patch_radius>2.0</patch_radius>
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<link name="sphere_2">
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<pose>0 -0.015000000000000003 0 0 0 0</pose>
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<geometry>
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<sphere>
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<ode>
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</ode>
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<torsional>
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<coefficient>0.001</coefficient>
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<patch_radius>2.0</patch_radius>
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<joint name = "joint_1" type="prismatic">
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|
<parent>world</parent>
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|
<child>sphere_1</child>
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|
<axis>
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|
<xyz>0 -1 0</xyz>
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|
<dynamics>
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|
<damping>100</damping>
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|
<spring_stiffness>1000000</spring_stiffness>
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|
<spring_reference>0.002</spring_reference>
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|
</dynamics>
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</axis>
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</joint>
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<joint name = "joint_2" type="prismatic">
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|
<parent>world</parent>
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|
<child>sphere_2</child>
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|
<axis>
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|
<xyz>0 1 0</xyz>
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|
<dynamics>
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|
<damping>100</damping>
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|
<spring_stiffness>1000000</spring_stiffness>
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|
<spring_reference>0.002</spring_reference>
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|
</dynamics>
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</axis>
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</model>
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|
<model name='pinch_3'>
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|
<allow_auto_disable>0</allow_auto_disable>
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|
<pose>3.6129766121579037 6 0.6021627686929839 0 0 0</pose>
|
|
<link name="box">
|
|
<self_collide>true</self_collide>
|
|
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<mass>16.0</mass>
|
|
<inertia>
|
|
<ixx>0.4801333333333334</ixx>
|
|
<iyy>0.48333333333333345</iyy>
|
|
<izz>0.0034666666666666674</izz>
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|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.005</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="sphere_1">
|
|
<pose>0 0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.005</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
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|
</geometry>
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|
</visual>
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|
</link>
|
|
<link name="sphere_2">
|
|
<pose>0 -0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.005</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name = "joint_1" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_1</child>
|
|
<axis>
|
|
<xyz>0 -1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<joint name = "joint_2" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_2</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
<model name='pinch_4'>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose>4.817302149543871 6 0.6021627686929839 0 0 0</pose>
|
|
<link name="box">
|
|
<self_collide>true</self_collide>
|
|
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<mass>16.0</mass>
|
|
<inertia>
|
|
<ixx>0.4801333333333334</ixx>
|
|
<iyy>0.48333333333333345</iyy>
|
|
<izz>0.0034666666666666674</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.006</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="sphere_1">
|
|
<pose>0 0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.006</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="sphere_2">
|
|
<pose>0 -0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>0.006</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name = "joint_1" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_1</child>
|
|
<axis>
|
|
<xyz>0 -1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<joint name = "joint_2" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_2</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
<model name='pinch_5'>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose>6.021627686929839 6 0.6021627686929839 0 0 0</pose>
|
|
<link name="box">
|
|
<self_collide>true</self_collide>
|
|
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<mass>16.0</mass>
|
|
<inertia>
|
|
<ixx>0.4801333333333334</ixx>
|
|
<iyy>0.48333333333333345</iyy>
|
|
<izz>0.0034666666666666674</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1.0</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.010000000000000002 0.6000000000000001</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="sphere_1">
|
|
<pose>0 0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1.0</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="sphere_2">
|
|
<pose>0 -0.015000000000000003 0 0 0 0</pose>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1000.0</mu>
|
|
<mu2>1000.0</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1.0</coefficient>
|
|
<patch_radius>2.0</patch_radius>
|
|
</torsional>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.010000000000000002</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name = "joint_1" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_1</child>
|
|
<axis>
|
|
<xyz>0 -1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<joint name = "joint_2" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>sphere_2</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<dynamics>
|
|
<damping>100</damping>
|
|
<spring_stiffness>1000000</spring_stiffness>
|
|
<spring_reference>0.002</spring_reference>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
</world>
|
|
</sdf>
|