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PeterMitrano/gimbel_demo.world

Last active April 9, 2020 15:01
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gimbel_demo.world
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gimbel_demo.world
<sdf version='1.5'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>94 221000000</sim_time>
<real_time>96 695378072</real_time>
<wall_time>1465080945 330284517</wall_time>
<iterations>94221</iterations>
<model name='gimbel'>
<pose frame=''>0.219445 -0.150977 0.250001 -1e-06 -1e-06 0.009918</pose>
<scale>1 1 1</scale>
<link name='link_0'>
<pose frame=''>0.889259 -1.14437 1.66803 -4e-06 -1e-06 0.006842</pose>
<velocity>-0.88478 -0.008782 -0.902169 0 -0 0</velocity>
<acceleration>-0.901049 -0.004508 1.02454 0 -0 0</acceleration>
<wrench>-9.01049 -0.045082 10.2454 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose frame=''>0.031023 -0.05909 1.5 -1e-06 -1e-06 0.009918</pose>
<velocity>3e-06 1e-06 -2e-06 1e-06 3e-06 1e-06</velocity>
<acceleration>0.005142 0.001119 -0.001778 -0.00056 0.003243 0.000489</acceleration>
<wrench>0.012482 0.002717 -0.004317 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose frame=''>0.040944 -1.05904 0.5 0 -0 0.00992</pose>
<velocity>1e-06 0 -1e-06 0 2e-06 0</velocity>
<acceleration>0.001616 0.000409 -0.00115 -0.000819 0.003232 0</acceleration>
<wrench>3.23243 0.818625 -2.29936 0 -0 0</wrench>
</link>
<link name='link_3'>
<pose frame=''>0.04095 -1.05904 2.5 3e-06 0.776235 0.009929</pose>
<velocity>-7e-06 3e-06 -1e-06 -0.010565 1.06404 -9e-06</velocity>
<acceleration>0.005778 0.001671 -0.000445 -0.000538 -0.095387 -0.002754</acceleration>
<wrench>0.005778 0.001671 -0.000445 0 -0 0</wrench>
</link>
<link name='link_4'>
<pose frame=''>0.532465 -1.14791 2.01831 0.439894 0.776233 0.009941</pose>
<velocity>-0.512281 -0.005076 -0.522309 1.77452 1.08178 -1.75081</velocity>
<acceleration>-0.518127 -0.003869 0.60238 -1.37115 -0.558631 1.89493</acceleration>
<wrench>-0.051813 -0.000387 0.060238 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<model name='gimbel'>
<link name='link_1'>
<inertial>
<mass>2.42736</mass>
<inertia>
<ixx>1.39413</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.39413</iyy>
<iyz>0</iyz>
<izz>0.40456</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>-0.1875 0.09375 1.25 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 1 3</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 1 3</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='link_0'>
<inertial>
<mass>10</mass>
<inertia>
<ixx>0.00166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00166667</iyy>
<iyz>0</iyz>
<izz>0.00166667</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>1 -1 2.25 0 0 -0.003075</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
</link>
<link name='link_2'>
<inertial>
<mass>2000</mass>
<inertia>
<ixx>333.333</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>333.333</iyy>
<iyz>0</iyz>
<izz>333.333</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>-0.1875 -0.90625 0.25 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='link_3'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>-0.1875 -0.90625 2.25 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.5 1 0.1</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
<ambient>0 1 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.5 1 0.1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='link_4'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.00216667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00841667</iyy>
<iyz>0</iyz>
<izz>0.0104167</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>0.5 -1 2.25 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 0.5 0.1</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 0 0.3 0.5</ambient>
<diffuse>0.7 0.7 0.7 0.5</diffuse>
<specular>0.01 0.01 0.01 0.5</specular>
<emissive>0 0 0 0.5</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1 0.5 0.1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name='link_0_JOINT_1' type='ball'>
<parent>link_4</parent>
<child>link_0</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='link_1_JOINT_0_0' type='revolute'>
<parent>link_1</parent>
<child>link_3</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>10</damping>
<friction>10</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='link_1_JOINT_0' type='fixed'>
<parent>link_1</parent>
<child>link_2</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='link_4_JOINT_2' type='revolute'>
<parent>link_3</parent>
<child>link_4</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<pose frame=''>0.219443 -0.150969 0.250002 -4e-06 -1e-06 0.009917</pose>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>2.46312 -3.15895 3.90395 0 0.631426 2.31288</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
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