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icub_fixed.world
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icub_fixed.world
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<!--
Copyright (C) 2007-2013 Istituto Italiano di Tecnologia ADVR, iCub Facility & RBCS
Authors: Mingo Enrico, Alessio Rocchi, Mirko Ferrati, Silvio Traversaro, Alessandro Settimi and Francesco Romano
CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
-->
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<!-- Light -->
<include>
<uri>model://sun</uri>
</include>
<!-- Ground Plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- iCub -->
<include>
<uri>model://icub_fixed</uri>
</include>
<model name='table'>
<static>1</static>
<link name='link'>
<collision name='surface'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.8 0.03</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual1'>
<pose frame=''>0 0 1 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.8 0.03</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name='front_left_leg'>
<pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_left_leg'>
<pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='front_right_leg'>
<pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_right_leg'>
<pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='back_right_leg'>
<pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='back_right_leg'>
<pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='back_left_leg'>
<pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='back_left_leg'>
<pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>0.489676 0.037336 -0.200996 0 -0 1.55047</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0.489676 0.037336 -0.200996 0 -0 1.55047</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>
<model name='cricket_ball'>
<link name='link'>
<pose frame=''>0 0 0.0375 0 -0 0</pose>
<inertial>
<mass>0.1467</mass>
<inertia>
<ixx>8.25187e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.25187e-05</iyy>
<iyz>0</iyz>
<izz>8.25187e-05</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.0375</radius>
</sphere>
</geometry>
<surface>
<contact>
<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>8.8e+09</elastic_modulus>
<ode>
<kp>100000</kp>
<kd>100</kd>
<max_vel>100</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<torsional>
<coefficient>1</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.01</surface_radius>
<ode/>
</torsional>
<ode/>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.0375</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0.005</angular>
</velocity_decay>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>0.384011 0.242872 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>9423 191000000</sim_time>
<real_time>10687 761470386</real_time>
<wall_time>1532013244 306013552</wall_time>
<iterations>4163940</iterations>
<model name='cricket_ball'>
<pose frame=''>0.237749 -0.038959 0.833229 0.55121 1.00295 -0.763089</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0.243639 -0.091767 0.85041 0.55121 1.00295 -0.763089</pose>
<velocity>0.012066 0.001132 -0.00035 -0.011021 0.327934 0.655075</velocity>
<acceleration>11.3398 5.98344 -4.53109 -2.14574 -1.29633 -1.00549</acceleration>
<wrench>1.66354 0.87777 -0.664711 0 -0 0</wrench>
</link>
</model>
<model name='table'>
<pose frame=''>0.489676 0.037336 -0.200996 0 -0 1.55047</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0.489676 0.037336 -0.200996 0 -0 1.55047</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>
</state>
</world>
</sdf>