oscillation_ctrl/models/tether/tether.sdf

<?xml version="1.0" ?>
<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
<sdf version="1.5">
  <model name="tether">
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
    <link name="link_0">
      <gravity>true</gravity>
      <pose>-0.085 0.0 0.0 0.0 0.0 0.0</pose>
      <inertial>
        <mass>0.0051</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><visual name="sphere_visual">
        <geometry>
          <sphere>
            <radius>0.009</radius>
          </sphere>
        </geometry>
        <material>
        <script>
          <name>Gazebo/Red</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual>
    </link>
    <plugin name="link_0_drag" filename="libLiftDragPlugin.so">
      <robotNamespace></robotNamespace>
      <a0>0</a0>
      <cla>0</cla>
      <cda>1.2535816618911175</cda>
      <alpha_stall>0</alpha_stall>
      <cda_stall>1.4326647564469914</cda_stall>
      <cp>0 0 0</cp>
      <area>0.00034</area>
      <air_density>1.2041</air_density>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>link_0</link_name>
    </plugin>
    <link name="link_y_left">
      <gravity>true</gravity>
      <pose>-0.085 0.0 0.0 0.0 0.0 -9.0</pose>
      <inertial>
        <mass>0.0051</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>0.1 0 0 0 1.570790 0</pose>
        <geometry>
          <cylinder>
            <length>0.2</length>
            <radius>0.001</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>0.1 0 0 0 1.570790 0</pose>
        <geometry>
          <cylinder>
            <length>0.2</length>
            <radius>0.001</radius>
          </cylinder>
        </geometry>
        <material>
        <script>
          <name>Gazebo/White</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual><visual name="sphere_visual">
        <geometry>
          <sphere>
            <radius>0.009</radius>
          </sphere>
        </geometry>
        <material>
        <script>
          <name>Gazebo/Red</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual>
    </link>
    <plugin name="link_y_left_drag" filename="libLiftDragPlugin.so">
      <robotNamespace></robotNamespace>
      <a0>0</a0>
      <cla>0</cla>
      <cda>1.2535816618911175</cda>
      <alpha_stall>0</alpha_stall>
      <cda_stall>1.4326647564469914</cda_stall>
      <cp>0 0 0</cp>
      <area>0.00034</area>
      <air_density>1.2041</air_density>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>link_y_left</link_name>
    </plugin>
    <link name="link_y_right">
      <gravity>true</gravity>
      <pose>-0.085 0 0.0 0.0 0.0 9.0</pose>
      <inertial>
        <mass>0.0051</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>0.1 0 0 0 1.570790 0</pose>
        <geometry>
          <cylinder>
            <length>0.2</length>
            <radius>0.001</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>0.1 0 0 0 1.570790 0</pose>
        <geometry>
          <cylinder>
            <length>0.2</length>
            <radius>0.001</radius>
          </cylinder>
        </geometry>
        <material>
        <script>
          <name>Gazebo/White</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual><visual name="sphere_visual">
        <geometry>
          <sphere>
            <radius>0.009</radius>
          </sphere>
        </geometry>
        <material>
        <script>
          <name>Gazebo/Red</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual>
    </link>
    <plugin name="link_y_right_drag" filename="libLiftDragPlugin.so">
      <robotNamespace></robotNamespace>
      <a0>0</a0>
      <cla>0</cla>
      <cda>1.2535816618911175</cda>
      <alpha_stall>0</alpha_stall>
      <cda_stall>1.4326647564469914</cda_stall>
      <cp>0 0 0</cp>
      <area>0.00034</area>
      <air_density>1.2041</air_density>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>link_y_right</link_name>
    </plugin>
    <joint name="joint_y_left" type="universal">
      <child>link_0</child>
      <parent>link_y_left</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <dynamics>
          <damping>0.05</damping>
          <friction>0.0</friction>
          <spring_stiffness>0.01</spring_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>
          <spring_stiffness>0.01</spring_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_y_right" type="universal">
      <child>link_0</child>
      <parent>link_y_right</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <dynamics>
          <damping>0.05</damping>
          <friction>0.0</friction>
          <spring_stiffness>0.01</spring_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>
          <spring_stiffness>0.01</spring_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="fixed_to_world" type="fixed">
      <child>link_0</child>
      <parent>world</parent>
    </joint>
  </model>
</sdf>