809 lines
23 KiB
XML
809 lines
23 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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<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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<include>
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<uri>model://ground_plane</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>1.3</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>1.0</erp>
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<contact_max_correcting_vel>10000.0</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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<simbody>
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<accuracy>0.01</accuracy>
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<max_transient_velocity>0.01</max_transient_velocity>
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<contact>
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<stiffness>111.111</stiffness>
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<dissipation>0</dissipation>
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</contact>
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</simbody>
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<real_time_update_rate>0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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</physics>
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<!-- a test of spring, see reference from ODE discussion
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http://www.ode.org/old_list_archives/2006-March/018014.html
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where stiffness and damping are related to joint limit cfm and erp
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public static void Calc(float springConstant, float dampingCofficient, float
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sprungMass, out float erp, out float cfm)
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{
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float r = 2.0f * dampingCofficient * (float)Math.Sqrt(sprungMass
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* springConstant);
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float hk = Scene.OdeTimeStep * springConstant;
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erp = hk / (hk + r);
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cfm = 1.0f / (hk + r);
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}
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in the end,
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erp = dt * kp / ( dt * kp + kd )
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cfm = 1 / ( dt * kp + kd )
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or
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kp = erp / (cfm * h)
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kd = (1 - erp) / cfm
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-->
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<model name="model_0">
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<pose>0.0 0.0 1.1 0 0.0 0.0</pose>
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<link name="link_1">
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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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<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 -0.5 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_sphere">
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<pose>0.0 0.0 -0.5 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><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></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 -0.5 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_0" type="prismatic">
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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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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<stiffness>1.0e6</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 0.0 1.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>0.0</cfm>
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<erp>0.2</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<static>false</static>
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</model>
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<model name="model_1_prismatic">
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<pose>0.0 0.3 1.1 0 0.0 0.0</pose>
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<link name="link_1">
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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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<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 -0.5 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<length>0.1</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<material>
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<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/White</name></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 -0.5 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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<length>0.1</length>
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<radius>0.1</radius>
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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="prismatic">
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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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<limit>
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<lower>0.0</lower>
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<upper>0.0</upper>
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<stiffness>333.3333</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 0.0 1.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>3.0</cfm>
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<erp>1.0</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<static>false</static>
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</model>
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<model name="model_1_revolute">
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<pose>-1.0 0.3 1.1 0 0.0 0.0</pose>
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<link name="link_1">
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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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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertial>
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<pose>1.0 0.0 0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.0001</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.0001</iyy>
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<iyz>0.0</iyz>
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<izz>0.0001</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_sphere">
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<pose>1.0 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><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/White</name></script>
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</material>
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</visual>
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<collision name="collision_sphere">
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<pose>1.0 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_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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<limit>
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<lower>0.0</lower>
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<upper>0.0</upper>
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<stiffness>333.3333</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 1.0 0.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>3.0</cfm>
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<erp>1.0</erp>
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</limit>
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</ode>
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</physics>
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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_prismatic">
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<pose>0.0 0.6 1.1 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>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<length>0.1</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<material>
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<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/FlatBlack</name></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 -0.5 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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<length>0.1</length>
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<radius>0.1</radius>
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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="prismatic">
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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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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<stiffness>166.66667</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 0.0 1.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>6.0</cfm>
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<erp>1.0</erp>
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</limit>
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</ode>
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</physics>
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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_revolute">
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<pose>-1.0 0.6 1.1 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>1.0 0.0 0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_sphere">
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<pose>1.0 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><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/FlatBlack</name></script>
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</material>
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</visual>
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<collision name="collision_sphere">
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<pose>1.0 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_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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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<stiffness>166.66667</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 1.0 0.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>6.0</cfm>
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<erp>1.0</erp>
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</limit>
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</ode>
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</physics>
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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_prismatic">
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<pose>0.0 0.9 1.1 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>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<length>0.1</length>
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<radius>0.1</radius>
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</cylinder>
|
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</geometry>
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<material>
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<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Red</name></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 -0.5 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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<length>0.1</length>
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<radius>0.1</radius>
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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="prismatic">
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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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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<stiffness>111.1111</stiffness>
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<dissipation>0</dissipation>
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</limit>
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<xyz>0.0 0.0 1.0</xyz>
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</axis>
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<physics>
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<ode>
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<limit>
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<cfm>9.0</cfm>
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<erp>1.0</erp>
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</limit>
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</ode>
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</physics>
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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_revolute">
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<pose>-1.0 0.9 1.1 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>1.0 0.0 0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.01</iyy>
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<iyz>0.0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
|
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<visual name="visual_sphere">
|
|
<pose>1.0 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>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Red</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_sphere">
|
|
<pose>1.0 0.0 0 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</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>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<stiffness>111.1111</stiffness>
|
|
<dissipation>0</dissipation>
|
|
</limit>
|
|
<xyz>0.0 1.0 0.0</xyz>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>9.0</cfm>
|
|
<erp>1.0</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>false</static>
|
|
</model>
|
|
<model name="model_4_prismatic_plugin">
|
|
<pose>0.0 1.2 1.1 0 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 -0.5 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<visual name="visual_cylinder">
|
|
<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.1</length>
|
|
<radius>0.1</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_cylinder">
|
|
<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.1</length>
|
|
<radius>0.1</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<joint name="joint_0" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link_1</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<limit>
|
|
<lower>-1.0</lower>
|
|
<upper>1.0</upper>
|
|
</limit>
|
|
<xyz>0.0 0.0 1.0</xyz>
|
|
</axis>
|
|
</joint>
|
|
<link name="link_2">
|
|
<pose>0.0 0.0 0.5 0.0 0.0 0.0</pose>
|
|
<inertial>
|
|
<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<visual name="visual_sphere">
|
|
<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_sphere">
|
|
<pose>0.0 0.0 -0.5 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<joint name="joint_1" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link_2</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<limit>
|
|
<lower>-1.0</lower>
|
|
<upper>1.0</upper>
|
|
</limit>
|
|
<xyz>0.0 0.0 1.0</xyz>
|
|
</axis>
|
|
</joint>
|
|
<plugin name="spring_test" filename="libSpringTestPlugin.so">
|
|
<joint_explicit>joint_0</joint_explicit>
|
|
<kp_explicit>111.1111</kp_explicit>
|
|
<kd_explicit>0</kd_explicit>
|
|
<joint_implicit>joint_1</joint_implicit>
|
|
<kp_implicit>111.1111</kp_implicit>
|
|
<kd_implicit>0</kd_implicit>
|
|
</plugin>
|
|
<static>false</static>
|
|
</model>
|
|
<model name="model_5_soft_contact">
|
|
<pose>0.0 1.2 0.0 0 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 0.05 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<visual name="visual_sphere">
|
|
<pose>0.0 0.0 0.1 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Blue</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision_sphere">
|
|
<pose>0.0 0.0 0.1 0.0 0.0 0.0</pose>
|
|
<max_contacts>250</max_contacts>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.2</mu>
|
|
<mu2>0.2</mu2>
|
|
<fdir1>1.0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>111.1111</kp>
|
|
<kd>0.0</kd>
|
|
<max_vel>10000.0</max_vel>
|
|
<min_depth>0.0</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<gravity>true</gravity>
|
|
<self_collide>true</self_collide>
|
|
<kinematic>false</kinematic>
|
|
</link>
|
|
<static>false</static>
|
|
</model>
|
|
<model name="model_6_prismatic_sdf">
|
|
<pose>0.0 1.5 0.6 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.1</length>
|
|
<radius>0.1</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.1</length>
|
|
<radius>0.1</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<pose>0.0 0.0 0.5 0 0 0</pose>
|
|
<axis>
|
|
<limit>
|
|
<lower>-1.0</lower>
|
|
<upper>1.0</upper>
|
|
</limit>
|
|
<xyz>0.0 0.0 1.0</xyz>
|
|
<dynamics>
|
|
<spring_stiffness>111.1111</spring_stiffness>
|
|
<spring_reference>0.0</spring_reference>
|
|
<damping>0.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
<model name="model_7_revolute_sdf">
|
|
<pose>-1.0 1.5 0.6 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/FlatBlack</name></script>
|
|
</material>
|
|
</visual>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="joint" type="revolute">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<pose>-1.0 0.0 0.0 0 0 0</pose>
|
|
<axis>
|
|
<limit>
|
|
<lower>-10</lower>
|
|
<upper>10</upper>
|
|
</limit>
|
|
<xyz>0.0 1.0 0.0</xyz>
|
|
<dynamics>
|
|
<spring_stiffness>111.1111</spring_stiffness>
|
|
<spring_reference>0.0</spring_reference>
|
|
<damping>0.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
</world>
|
|
</sdf>
|