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inertial_test.world
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<?xml version="1.0" ?>
<sdf version="1.3">
<world name="default">
<physics type="ode">
<gravity>0 0 0</gravity>
<update_rate>1000</update_rate>
<ode>
<solver>
<type>quick</type>
<dt>0.001</dt>
<iters>40</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<model name="model_1">
<pose>0 0 0 0 0 0</pose>
<link name="link_1">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
<mass>10.000000</mass>
</inertial>
<visual name="visual_cylinder">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.100000</radius>
<length>1.000000</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.100000</radius>
<length>1.000000</length>
</cylinder>
</geometry>
</collision>
</link>
<link name="link_2">
<pose>0 0 -1 0 0 0</pose>
<inertial>
<pose>0 0 -0.5 0 0 0</pose>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
<mass>10.000000</mass>
</inertial>
<visual name="visual_box">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<box>
<size>0.100000 0.100000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Red</script>
</material>
</visual>
<collision name="collision_box">
<pose>0 0 -0.5 0 0 0</pose>
<max_contacts>250</max_contacts>
<geometry>
<box>
<size>0.100000 0.100000 1.000000</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<limit>
<!-- effectively fixed -->
<lower>0.000000</lower>
<upper>0.000000</upper>
</limit>
<dynamics>
<damping>1.000000</damping>
</dynamics>
<xyz>1.000000 0.000000 0.000000</xyz>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="joint_1" type="universal">
<parent>link_1</parent>
<child>link_2</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<limit>
<lower>-0.7</lower>
<upper>0.7</upper>
<effort>1000.000000</effort>
<velocity>1000.000000</velocity>
</limit>
<dynamics>
<damping>1000.000000</damping>
</dynamics>
<xyz>1.000000 0.000000 0.000000</xyz>
</axis>
<axis2>
<limit>
<lower>-0.7</lower>
<upper>0.7</upper>
<effort>1000.000000</effort>
<velocity>1000.000000</velocity>
</limit>
<dynamics>
<damping>2000.000000</damping>
</dynamics>
<xyz>0.000000 1.000000 0.000000</xyz>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<static>0</static>
</model>
</world>
</sdf>