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simple_pendulums.world
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<?xml version="1.0" ?>
<sdf version="1.3">
<!-- model_1: pendulum rod body and a sphere point mass attached by fixed
joint at the end of the rod.
model_2: pendulum rod body with same mass properties as model_1.
model_3: same as model_2 but perpendicular to it.
-->
<world name="default">
<gui>
<camera name="user_camera">
<pose>-25 -15 12.053900 0.000000 0.2 0.352194</pose>
</camera>
</gui>
<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 -9.81</gravity>
<ode>
<solver>
<type>quick</type>
<dt>0.001</dt>
<iters>1000</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>1.0</erp>
<contact_max_correcting_vel>0.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
</physics>
<model name="model_1">
<pose>0.0 0.0 10.1 1.57079633 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>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1e-1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1e-1</iyy>
<iyz>0.0</iyz>
<izz>1e-1</izz>
</inertia>
<mass>5.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<link name="link_2">
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1e-1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1e-1</iyy>
<iyz>0.0</iyz>
<izz>1e-1</izz>
</inertia>
<mass>5.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>Gazebo/Red</script>
</material>
</visual>
<collision name="collision_sphere">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_1" type="revolute">
<parent>link_1</parent>
<child>link_2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_2">
<pose>1.0 0.0 10.1 1.57079633 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>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1e-1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1e-1</iyy>
<iyz>0.0</iyz>
<izz>1e-1</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_3">
<pose>0.0 -10.5 10.1 0.0 1.57079633 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1e-1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1e-1</iyy>
<iyz>0.0</iyz>
<izz>1e-1</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
</axis>
</joint>
<static>false</static>
</model>
</world>
</sdf>