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model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="juggler">
<pose>0 0 0 0 0 0</pose>
<link name="ball">
<self_collide>1</self_collide>
<pose>-.75 0.0 1.75000 -0.000000 0.000000 0</pose>
<inertial> <!-- box dim: w=1, h=.025, d=1 -->
<pose>0 0 0 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>.00000025</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0000025</iyy>
<iyz>0</iyz>
<izz>0.0000025</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name="ball-geom">
<pose>0 -0.00000 0.000000 0.000000 0 -0.000000</pose>
<geometry>
<sphere>
<radius>.025</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.000000</mu>
<mu2>0.00000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0000000</restitution_coefficient>
<threshold>0.00000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.000000</soft_erp>
<kp>1000000000000.000000</kp>
<kd>1.000000</kd>
<max_vel>0.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="ball-visual">
<pose>-0 -0.00000 0.000000 0.000000 0 -0.000000</pose>
<geometry>
<sphere>
<radius>.025</radius>
</sphere>
</geometry>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
</link>
<link name="pan-link">
<self_collide>1</self_collide>
<pose>0 0 1.000000 -0.000000 0.000000 0</pose>
<inertial> <!-- box dim: w=1, h=.025, d=1 -->
<pose>0 0 0 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>.16667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1667</iyy>
<iyz>0</iyz>
<izz>0.16667</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="semi-cone-geom1">
<pose>-0.5 -0.00000 0.5000000 0.000000 1.5708 -0.000000</pose>
<geometry>
<box>
<size>1 1 .1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.000000</mu>
<mu2>0.00000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0000000</restitution_coefficient>
<threshold>0.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.000000</soft_erp>
<kp>1000000000000.000000</kp>
<kd>1.000000</kd>
<max_vel>0.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<collision name="semi-cone-geom2">
<pose>0 -0 0.000000 0.000000 -0 -0.000000</pose>
<geometry>
<box>
<size>1 1 .1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.000000</mu>
<mu2>0.00000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>0.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.000000</soft_erp>
<kp>1000000000000.000000</kp>
<kd>1.000000</kd>
<max_vel>0.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="semi-cone-visual1">
<pose>-.5 -0.00000 0.5000000 0.000000 1.570800000 -0.000000</pose>
<geometry>
<box>
<size>1 1 .1</size>
</box>
</geometry>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<visual name="semi-cone-visual2">
<pose>0 .000000 0.00000 0.000000 0 -0.000000</pose>
<geometry>
<box>
<size>1 1 .1</size>
</box>
</geometry>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<joint name="juggler-joint" type="revolute">
<pose>-0.5000000 0.000000 0 0.000000 -0.000000 0.000000</pose>
<parent>world</parent>
<child>pan-link</child>
<axis>
<dynamics>
<damping>0.000000</damping>
<friction>0.000000</friction>
</dynamics>
<limit>
<effort>10000.000000</effort>
<velocity>1000.000000</velocity>
</limit>
<xyz>0.000000 1.000000 0.000000</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<plugin name="juggler-plugin" filename="libjuggler.so" />
</model>
</sdf>