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inertia_ratio_reduction_test.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<physics type="ode">
<gravity>0.000000 0.000000 -9.810000</gravity>
<ode>
<solver>
<type>quick</type>
<iters>250</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
</solver>
<constraints>
<cfm>0.000000</cfm>
<erp>0.200000</erp>
<contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
<contact_surface_layer>0.00000</contact_surface_layer>
</constraints>
</ode>
<bullet>
<solver>
<type>sequential_impulse</type>
<iters>250</iters>
<sor>1.400000</sor>
</solver>
<constraints>
<cfm>0.000000</cfm>
<erp>0.200000</erp>
<split_impulse>true</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</bullet>
<simbody>
<accuracy>0.001</accuracy>
<max_transient_velocity>0.01</max_transient_velocity>
<contact>
<stiffness>1e8</stiffness>
<dissipation>10</dissipation>
<static_friction>0.15</static_friction>
<dynamic_friction>0.1</dynamic_friction>
<viscous_friction>0.0</viscous_friction>
</contact>
</simbody>
<real_time_update_rate>0.000000</real_time_update_rate>
<max_step_size>0.001000</max_step_size>
</physics>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<!-- test contributed by jesper -->
<model name="trikey">
<pose>0 0 1.0 0 0 1.57</pose>
<link name="body">
<pose>0 0 0.5 0 0 1.57</pose>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>1</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.01</min_depth>
</ode>
</contact>
<friction>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
</bullet>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>1</radius>
<length>0.1</length>
</cylinder>
</geometry>
</visual>
<inertial>
<mass>30.0</mass>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>1.0</ixx>
<iyy>3.0</iyy>
<izz>3.0</izz>
<ixy>0.001</ixy>
<ixz>0.002</ixz>
<iyz>0.003</iyz>
</inertia>
</inertial>
</link>
<joint name="body_joint" type="revolute">
<physics>
<provide_feedback>true</provide_feedback>
<ode>
<cfm_damping>true</cfm_damping>
</ode>
</physics>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.000000</damping>
</dynamics>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
</axis>
<parent>world</parent>
<child>body</child>
</joint>
<link name="wheel1">
<pose>0 -1.1 0.5 1.571 0 0</pose>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.01</min_depth>
</ode>
</contact>
<friction>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
</bullet>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
</visual>
<inertial>
<mass>1.0</mass>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.01</ixx>
<iyy>0.02</iyy>
<izz>0.03</izz>
<ixy>0.0001</ixy>
<ixz>0.0002</ixz>
<iyz>0.0003</iyz>
</inertia>
</inertial>
</link>
<joint name="wheel1_joint" type="revolute">
<physics>
<provide_feedback>true</provide_feedback>
<ode>
<cfm_damping>true</cfm_damping>
</ode>
</physics>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>0.000000</damping>
</dynamics>
</axis>
<parent>body</parent>
<child>wheel1</child>
</joint>
<link name="wheel2">
<pose>0.7778174593 0.7778174593 0.5 1.571 0 2.35619449</pose>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.01</min_depth>
</ode>
</contact>
<friction>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
</bullet>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
</visual>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.01</ixx>
<iyy>0.02</iyy>
<izz>0.03</izz>
<ixy>0.0001</ixy>
<ixz>0.0002</ixz>
<iyz>0.0003</iyz>
</inertia>
</inertial>
</link>
<joint name="wheel2_joint" type="revolute">
<physics>
<provide_feedback>true</provide_feedback>
<ode>
<cfm_damping>true</cfm_damping>
</ode>
</physics>
<axis>
<xyz>1 1 0</xyz>
<dynamics>
<damping>0.000000</damping>
</dynamics>
</axis>
<parent>body</parent>
<child>wheel2</child>
</joint>
<link name="wheel3">
<pose>-0.7778174593 0.7778174593 0.5 1.571 0 -2.35619449</pose>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.01</min_depth>
</ode>
</contact>
<friction>
<bullet>
<friction>1</friction>
<friction2>1</friction2>
</bullet>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.1</length>
</cylinder>
</geometry>
</visual>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.01</ixx>
<iyy>0.02</iyy>
<izz>0.03</izz>
<ixy>0.0001</ixy>
<ixz>0.0002</ixz>
<iyz>0.0003</iyz>
</inertia>
</inertial>
</link>
<joint name="wheel3_joint" type="revolute">
<physics>
<provide_feedback>true</provide_feedback>
<ode>
<cfm_damping>true</cfm_damping>
</ode>
</physics>
<axis>
<xyz>-1 1 0</xyz>
<dynamics>
<damping>0.000000</damping>
</dynamics>
</axis>
<parent>body</parent>
<child>wheel3</child>
</joint>
</model>
</world>
</sdf>