636 lines
24 KiB
XML
636 lines
24 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.3">
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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>-60 0 5 0 0 0</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>
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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 -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>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>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_mass_1_damping_10000">
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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>0.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0</iyy>
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<iyz>0.0</iyz>
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<izz>0.0</izz>
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</inertia>
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<mass>1.0</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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<dynamics>
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<damping>10000.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_mass_01_damping_10">
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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>0.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0</iyy>
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<iyz>0.0</iyz>
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<izz>0.0</izz>
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</inertia>
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<mass>0.1</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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<dynamics>
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<damping>10.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_mass_1_damping_10">
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<pose>2.0 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>0.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0</iyy>
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<iyz>0.0</iyz>
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<izz>0.0</izz>
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</inertia>
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<mass>1.0</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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<dynamics>
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<damping>10.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_4_mass_1_ixx_1_damping_10">
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<pose>3.0 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>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.5</iyy>
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<iyz>0.0</iyz>
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<izz>0.5</izz>
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</inertia>
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<mass>1.0</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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<dynamics>
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<damping>10.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_5_mass_1_damping_1">
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<pose>4.0 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>0.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0</iyy>
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<iyz>0.0</iyz>
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<izz>0.0</izz>
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</inertia>
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<mass>1.0</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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<dynamics>
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<damping>1.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_6_mass_1_damping_10">
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<pose>5.0 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>0.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0</iyy>
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<iyz>0.0</iyz>
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<izz>0.0</izz>
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</inertia>
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<mass>1.0</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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<dynamics>
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<damping>10.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_7_mass_1_damping_100">
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<pose>6.0 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>
|
|
<inertia>
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|
<ixx>0.0</ixx>
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|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
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|
<iyy>0.0</iyy>
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|
<iyz>0.0</iyz>
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|
<izz>0.0</izz>
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|
</inertia>
|
|
<mass>1.0</mass>
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|
</inertial>
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|
<velocity_decay>
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|
<linear>0.0</linear>
|
|
<angular>0.0</angular>
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|
</velocity_decay>
|
|
<visual name="visual_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
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|
<length>10.0</length>
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|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Green</script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
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|
<length>10.0</length>
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|
</cylinder>
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|
</geometry>
|
|
</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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|
<dynamics>
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<damping>100.0</damping>
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<friction>0.0</friction>
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</dynamics>
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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_8_mass_1_damping_1000">
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<pose>7.0 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>
|
|
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
|
|
<inertia>
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|
<ixx>0.0</ixx>
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|
<ixy>0.0</ixy>
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|
<ixz>0.0</ixz>
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|
<iyy>0.0</iyy>
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|
<iyz>0.0</iyz>
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|
<izz>0.0</izz>
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|
</inertia>
|
|
<mass>1.0</mass>
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</inertial>
|
|
<velocity_decay>
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|
<linear>0.0</linear>
|
|
<angular>0.0</angular>
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|
</velocity_decay>
|
|
<visual name="visual_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Green</script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<joint name="joint_0" type="revolute">
|
|
<parent>world</parent>
|
|
<child>link_1</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>1.0 0.0 0.0</xyz>
|
|
<dynamics>
|
|
<damping>1000.0</damping>
|
|
<friction>0.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<static>false</static>
|
|
</model>
|
|
<model name="model_9_mass_1_damping_0">
|
|
<pose>8.0 0.0 10.1 1.57079633 0.0 0.0</pose>
|
|
<link name="link_1">
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<inertial>
|
|
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.0</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.0</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.0</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<velocity_decay>
|
|
<linear>0.0</linear>
|
|
<angular>0.0</angular>
|
|
</velocity_decay>
|
|
<visual name="visual_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Green</script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<joint name="joint_0" type="revolute">
|
|
<parent>world</parent>
|
|
<child>link_1</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>1.0 0.0 0.0</xyz>
|
|
<dynamics>
|
|
<damping>0.0</damping>
|
|
<friction>0.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<static>false</static>
|
|
</model>
|
|
<model name="model_10_mass_10_damping_0">
|
|
<pose>9.0 0.0 10.1 1.57079633 0.0 0.0</pose>
|
|
<link name="link_1">
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<inertial>
|
|
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.0</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.0</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.0</izz>
|
|
</inertia>
|
|
<mass>10.0</mass>
|
|
</inertial>
|
|
<velocity_decay>
|
|
<linear>0.0</linear>
|
|
<angular>0.0</angular>
|
|
</velocity_decay>
|
|
<visual name="visual_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Green</script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_cylinder">
|
|
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>10.0</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<joint name="joint_0" type="revolute">
|
|
<parent>world</parent>
|
|
<child>link_1</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>1.0 0.0 0.0</xyz>
|
|
<dynamics>
|
|
<damping>0.0</damping>
|
|
<friction>0.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<static>false</static>
|
|
</model>
|
|
</world>
|
|
</sdf>
|