1138 lines
31 KiB
Plaintext
1138 lines
31 KiB
Plaintext
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<!-- DO NOT EDIT: Generated from spiri_with_tether.sdf.jinja -->
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<!-- tl = 0.3 num. of el. = 10 payload sz: 0.025-->
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<sdf version="1.5">
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<model name="spiri_with_tether">
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<pose> 0 0 0 0.0 0.0 0.0</pose>
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<include>
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<uri>model://spiri</uri>
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<pose>0.0 0.0 0.0 0.0 0.0 0</pose>
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<static>0</static>
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</include>
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<joint name="tether_to_spiri_joint" type="ball">
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<child>link_spiri_attch</child>
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<parent>spiri::base</parent><pose>0 0 -0.15 0 0 0 </pose>
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<physics>
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<ode></ode>
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<provide_feedback>true</provide_feedback>
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</physics>
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</joint>
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<plugin name="ft_sensor_spiri" filename="libgazebo_ros_ft_sensor.so">
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<updateRate>1.0</updateRate>
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<topicName>ft_sensor_topic/spiri</topicName>
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<jointName>tether_to_spiri_joint</jointName>
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</plugin>
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<link name="link_spiri_attch">
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<gravity>true</gravity>
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<pose>0.15 0.0 0 0.0 1.5707 0.0</pose>
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<inertial>
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<mass>0.0015</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.005</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="element_visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.005</radius>
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</cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual><visual name="sphere_visual">
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<pose> 0 0 -0.15 0 0 0 </pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="link_spiri_attch_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.253582</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<useConstantDragCoefficient>true</useConstantDragCoefficient>
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<cp>0.15 0.005 0.005</cp>
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<area>0.003</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_spiri_attch</link_name>
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</plugin>
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<joint name="joint_spiri_attch" type="universal">
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<child>link_spiri_attch</child>
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<parent>link_1</parent>
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<pose>0 0 0.15 0 0 0 </pose>
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<axis>
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<xyz>0 1 0</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<joint_stiffness>0.05</joint_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<axis2>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<joint_stiffness>0.05</joint_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis2>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode><provide_feedback>true</provide_feedback></physics>
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</joint>
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<link name="link_1">
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<gravity>true</gravity>
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<pose>0.44999999999999996 0.0 0.0 0.0 1.5707 0.0</pose>
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<inertial>
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<mass>0.0015</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.005</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="element_visual">
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||
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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||
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<cylinder>
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||
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<length>0.3</length>
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<radius>0.005</radius>
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</cylinder>
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||
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</geometry>
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<material>
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||
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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||
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</material>
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||
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</visual><visual name="sphere_visual">
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||
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<pose> 0 0 -0.15 0 0 0 </pose>
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<geometry>
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||
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<sphere>
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||
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<radius>0.01</radius>
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</sphere>
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</geometry>
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<material>
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||
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<script>
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||
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<name>Gazebo/Red</name>
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||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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||
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</material>
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||
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</visual>
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||
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</link>
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||
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<plugin name="link_1_drag" filename="libLiftDragPlugin.so">
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||
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<robotNamespace></robotNamespace>
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||
|
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<a0>0</a0>
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||
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<cla>0</cla>
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||
|
|
<cda>1.253582</cda>
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||
|
|
<alpha_stall>0</alpha_stall>
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||
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<cda_stall>1.4326647564469914</cda_stall>
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||
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<useConstantDragCoefficient>true</useConstantDragCoefficient>
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||
|
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<cp>0.15 0.005 0.005</cp>
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||
|
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<area>0.003</area>
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||
|
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<air_density>1.2041</air_density>
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||
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<forward>0 1 0</forward>
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||
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<upward>0 0 1</upward>
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||
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<link_name>link_1</link_name>
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||
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</plugin>
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||
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<link name="link_2">
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||
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<gravity>true</gravity>
|
||
|
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<pose>0.75 0.0 0.0 0.0 1.5707 0.0</pose>
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||
|
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<inertial>
|
||
|
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<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
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||
|
|
<ixz>0</ixz>
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||
|
|
<iyy>0.01</iyy>
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||
|
|
<iyz>0</iyz>
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||
|
|
<izz>0.01</izz>
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||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
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||
|
|
<radius>0.005</radius>
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||
|
|
</cylinder>
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||
|
|
</geometry>
|
||
|
|
<surface>
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||
|
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<contact>
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||
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<ode>
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||
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<min_depth>0.00005</min_depth>
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||
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</ode>
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||
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</contact>
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||
|
|
<friction>
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||
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<ode>
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||
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<mu>1.0</mu>
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||
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<mu2>1.0</mu2>
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||
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</ode>
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||
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</friction>
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||
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</surface>
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||
|
|
</collision>
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||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
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||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
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<length>0.3</length>
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||
|
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<radius>0.005</radius>
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||
|
|
</cylinder>
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||
|
|
</geometry>
|
||
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|
<material>
|
||
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<script>
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||
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<name>Gazebo/White</name>
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||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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</script>
|
||
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|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
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||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
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||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_2_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_2</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_3">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>1.0499999999999998 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_3_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_3</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_4">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>1.3499999999999999 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_4_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_4</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_5">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>1.65 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_5_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_5</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_6">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>1.9499999999999997 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_6_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_6</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_7">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>2.25 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_7_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_7</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_8">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>2.55 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_8_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_8</link_name>
|
||
|
|
</plugin>
|
||
|
|
<link name="link_9">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>2.8499999999999996 0.0 0.0 0.0 1.5707 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0015</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="element_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.3</length>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual><visual name="sphere_visual">
|
||
|
|
<pose> 0 0 -0.15 0 0 0 </pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="link_9_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.253582</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<useConstantDragCoefficient>true</useConstantDragCoefficient>
|
||
|
|
<cp>0.15 0.005 0.005</cp>
|
||
|
|
<area>0.003</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_9</link_name>
|
||
|
|
</plugin><joint name="joint_2" type="universal">
|
||
|
|
<child>link_2</child>
|
||
|
|
<parent>link_1</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_3" type="universal">
|
||
|
|
<child>link_3</child>
|
||
|
|
<parent>link_2</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_4" type="universal">
|
||
|
|
<child>link_4</child>
|
||
|
|
<parent>link_3</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_5" type="universal">
|
||
|
|
<child>link_5</child>
|
||
|
|
<parent>link_4</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_6" type="universal">
|
||
|
|
<child>link_6</child>
|
||
|
|
<parent>link_5</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_7" type="universal">
|
||
|
|
<child>link_7</child>
|
||
|
|
<parent>link_6</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_8" type="universal">
|
||
|
|
<child>link_8</child>
|
||
|
|
<parent>link_7</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_9" type="universal">
|
||
|
|
<child>link_9</child>
|
||
|
|
<parent>link_8</parent>
|
||
|
|
|
||
|
|
<pose>0 0 -0.15 0 0 0 </pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.05</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<joint_stiffness>0.05</joint_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode></physics>
|
||
|
|
</joint>
|
||
|
|
<!-- PAYLOAD -->
|
||
|
|
<model name='mass'>
|
||
|
|
<link name="payload">
|
||
|
|
<pose> 3.0 0 0 0 0 0</pose>
|
||
|
|
<!--pose>0 0 0 0 0 0</pose-->
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.5</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="payload_collision">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="payload_visual">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<!-- Tether to Payload Connection --><joint name="tether_mass_connection" type="ball">
|
||
|
|
|
||
|
|
<parent>payload</parent>
|
||
|
|
<child>link_9</child>
|
||
|
|
<pose>0 0 0.15 0 0 0</pose>
|
||
|
|
<physics>
|
||
|
|
<ode></ode>
|
||
|
|
<provide_feedback>true</provide_feedback>
|
||
|
|
</physics>
|
||
|
|
</joint><plugin name="ft_sensor_payload" filename="libgazebo_ros_ft_sensor.so">
|
||
|
|
<updateRate>1.0</updateRate>
|
||
|
|
<topicName>ft_sensor_topic/payload</topicName>
|
||
|
|
<jointName>tether_mass_connection</jointName>
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
</model>
|
||
|
|
</sdf>
|
||
|
|
|
||
|
|
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
|