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max_vel_test.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<scene>
<ambient>0.5 0.5 0.5 1</ambient>
<background>0.5 0.5 0.5 1</background>
<shadows>false</shadows>
</scene>
<include>
<uri>model://sun</uri>
</include>
<physics type="ode">
<gravity>0.0 0.0 -10.0</gravity>
<ode>
<solver>
<type>quick</type>
<iters>100</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.001</max_step_size>
</physics>
<!-- model slides when cg is 0.3 0 0 -->
<model name="model_1">
<pose>0.5 -0.5 0.5 0.0 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.45 0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1.0</iyy>
<iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
<mass>10000.0</mass>
</inertial>
<visual name="visual_box">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
<laser_retro>100.0</laser_retro>
</visual>
<collision name="collision_box">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100.0</mu>
<mu2>100.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1000000000000.0</kp>
<kd>10000000000.0</kd>
<max_vel>0</max_vel>
<min_depth>0.0</min_depth>
</ode>
</contact>
</surface>
<laser_retro>100.0</laser_retro>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<static>false</static>
</model>
<!-- by shifting cg down, the block will not slide.
coupling of box rotation and the moment arm about contact points
<model name="model_2" static="false">
<origin pose="0.5 1.5 0.5 0 0.0 0.0"/>
<link name="link_1" self_collide="true" gravity="true" kinematic="false">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<inertial mass="10000.0">
<origin pose="0.45 0.0 -0.5 0.0 0.0 0.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0"/>
</inertial>
<visual name="visual_box" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
<material script="Gazebo/Green"/>
</visual>
<collision name="collision_box" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<max_contacts>250</max_contacts>
<geometry>
<box size="1 1 1"/>
</geometry>
<surface>
<contact>
<ode kp="1000000000000.0" kd="100000000.0" max_vel="0"/>
</contact>
</surface>
</collision>
</link>
</model>
-->
</world>
</sdf>