diff --git a/CMakeLists.txt b/CMakeLists.txt
index f06996e..8cb7a67 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,10 +3,13 @@ project(benchmark_gazebo)
 enable_testing()
 
 include(FindBoost)
+
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(zstd REQUIRED IMPORTED_TARGET libzstd)
 pkg_check_modules(lz4 REQUIRED IMPORTED_TARGET liblz4)
+
 find_package(protobuf CONFIG)
+
 if(NOT Protobuf_FOUND)
   find_package(Protobuf REQUIRED)
 endif()
@@ -23,27 +26,44 @@ if (NOT GAZEBO_FOUND)
   message (STATUS "Looking for gazebo - not found")
   message (FATAL_ERROR "Missing: Gazebo version 11.")
 endif()
+
 include_directories(${GAZEBO_INCLUDE_DIRS}
   ${PROJECT_SOURCE_DIR}/gtest/include
   ${PROJECT_SOURCE_DIR}/gtest
 )
 link_directories(${GAZEBO_LIBRARY_DIRS})
+
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 # Build gtest
 add_library(gtest STATIC gtest/src/gtest-all.cc)
 add_library(gtest_main STATIC gtest/src/gtest_main.cc)
 target_link_libraries(gtest_main gtest tbb)
-set(PROTO_FILES proto/boxes_msg.proto)
-include(${PROJECT_SOURCE_DIR}/tools/TestMacro.cmake)
-set(MCAP_DEPENDENCIES PkgConfig::lz4 PkgConfig::zstd)
+
+set(TEST_TYPE "BENCHMARK")
 set(WORLDS_DIR_PATH "${PROJECT_SOURCE_DIR}/worlds")
 set(TEST_RESULT_DIR "${PROJECT_SOURCE_DIR}/test_results")
-set(TEST_TYPE "BENCHMARK")
+
+include(${PROJECT_SOURCE_DIR}/tools/TestMacro.cmake)
+
+set(MCAP_DEPENDENCIES PkgConfig::lz4 PkgConfig::zstd)
+
+set(PROTO_FILES proto/boxes_msg.proto proto/triball_msg.proto
+    proto/Accel.proto proto/Pose.proto proto/Quaternion.proto
+    proto/Twist.proto proto/Vector3.proto proto/Wrench.proto)
+    
 include_directories(${Protobuf_INCLUDE_DIRS})
+
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES})
+
 configure_file(${PROJECT_SOURCE_DIR}/PathConfig.h.in PathConfig.h)
 
+set(PROTOBUF_DESCRIPTION_DIR ${CMAKE_SOURCE_DIR}/mcap/cpp/examples/protobuf/)
+set(PROTOBUF_DESCRIPTION_SRC 
+    ${PROTOBUF_DESCRIPTION_DIR}/BuildFileDescriptorSet.cpp
+)
+
+set(TEST_NAME boxes)
 # Boxes tests
 set(BOXES_TEST_FILES
   boxes_dt.cc
@@ -52,20 +72,22 @@ set(BOXES_TEST_FILES
 set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS
   boxes.cc
 )
-set(PROTOBUF_DESCRIPTION_DIR ${CMAKE_SOURCE_DIR}/mcap/cpp/examples/protobuf/)
-set(PROTOBUF_DESCRIPTION_SRC 
-    ${PROTOBUF_DESCRIPTION_DIR}/BuildFileDescriptorSet.cpp
-)
+
 gz_build_tests(${BOXES_TEST_FILES})
 
 set_tests_properties(BENCHMARK_boxes_dt PROPERTIES TIMEOUT 500)
 set_tests_properties(BENCHMARK_boxes_model_count PROPERTIES TIMEOUT 3000)
 
-# # Collide sphere tests
-# set(COLLIDE_SPHERES_TEST_FILES
-#   collide_spheres_dt.cc
-# )
-# set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS
-#   collide_spheres.cc
-# )
-# gz_build_tests(${COLLIDE_SPHERES_TEST_FILES})
+set(TEST_NAME triball)
+set(TRIBALL_TEST_FILES
+  triball_configuration.cc
+  triball_sliding.cc
+)
+
+set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS
+  triball.cc
+)
+
+gz_build_tests(${TRIBALL_TEST_FILES})
+
+set_tests_properties(BENCHMARK_triball_configuration PROPERTIES TIMEOUT 500)
diff --git a/README.md b/README.md
index 40ec1be..36ee1ef 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,8 @@ or on your own machine following the instructions given below:
 ![boxes benchmark animation: simple trajectory](img/boxes_5_simple.gif)
 ![boxes benchmark animation: complex trajectory](img/boxes_5_complex.gif)
 
+* [Triball: rigid bodies in contact](triball_description.ipynb)
+
 These benchmarks can be run for the physics engines supported by gazebo:
 
 * [Open Dynamics Engine (ODE)](http://ode.org), (source code on [bitbucket](https://bitbucket.org/odedevs/ode))
@@ -37,7 +39,8 @@ and then clone and build the benchmarks:
 
 ~~~
 git clone https://github.com/scpeters/benchmark
-pip install lz4 protobuf zstandard
+pip install lz4 protobuf zstandard pandas
+sudo apt-get install python3-gz-math7
 cd benchmark
 git submodule update --init --recursive
 mkdir build
diff --git a/boxes.cc b/boxes.cc
index 6baa462..340f7e0 100644
--- a/boxes.cc
+++ b/boxes.cc
@@ -173,13 +173,13 @@ void BoxesTest::Boxes(const std::string &_physicsEngine, double _dt,
 
       auto model = models[model_no];
       link = model->GetLink();
-      // linear velocity 
+      // linear velocity in world frame
       ignition::math::Vector3d v = link->WorldCoGLinearVel();
-      // angular velocity
+      // angular velocity in world frame
       ignition::math::Vector3d a = link->WorldAngularVel();
       log.recordTwist(model_no, v, a);
-  
-      // linear position 
+
+      // linear position in world frame
       ignition::math::Pose3d pose = link->WorldInertialPose();
       log.recordPose(model_no, pose);
     }
diff --git a/boxes.hh b/boxes.hh
index bdb2e2f..f42ce48 100644
--- a/boxes.hh
+++ b/boxes.hh
@@ -36,6 +36,7 @@ namespace gazebo
                             , bool
                             , bool
                             > char1double1int1bool2;
+                            
     class BoxesTest : public ServerFixture,
                       public testing::WithParamInterface<char1double1int1bool2>
     {
diff --git a/boxes_post_processing.py b/boxes_post_processing.py
new file mode 100644
index 0000000..a9092a2
--- /dev/null
+++ b/boxes_post_processing.py
@@ -0,0 +1,258 @@
+import sys
+import os 
+import pandas as pd
+import time
+import numpy as np
+from gz.math7 import Quaterniond, Vector3d
+import matplotlib.pyplot as plt
+import csv
+import time
+
+SOURCE_FOLDER = os.path.dirname(os.path.abspath(__file__))
+
+BENCHMARK_NAME = sys.argv[1]
+
+class PostProcessing:
+       
+       def __init__(self, test_name: str):
+           self.m = 10
+           self.g = 9.8
+           self.box_x = 0.1
+           self.box_y = 0.4
+           self.box_z = 0.9
+           Ixx = self.m/12.0 * (self.box_y**2 + self.box_z**2)
+           Iyy = self.m/12.0 * (self.box_z**2 + self.box_x**2)
+           Izz = self.m/12.0 * (self.box_x**2 + self.box_y**2)
+           self.I = np.diag([Ixx, Iyy, Izz])
+           self.sim_duration = 10
+           
+           timestr = time.strftime("%Y%m%d-%H%M%S")
+           metrics_filename = test_name + "_" + timestr + ".csv"
+           self.metrics_path = os.path.join(SOURCE_FOLDER, "test_results", metrics_filename)
+           print(f"metrics path is {self.metrics_path}")
+
+           self.csv_file = open(self.metrics_path, mode='w', newline='')
+           self.csv_writer = csv.writer(self.csv_file)
+
+           metrics = ["angMomentum0", "angMomentumErr_maxAbs","angPositionErr_x_maxAbs", 
+                      "angPositionErr_y_maxAbs", "angPositionErr_z_maxAbs", "collision", 
+                      "dt", "energyError_maxAbs", 	"engine", "isComplex", "linPositionErr_maxAbs",
+                      "linVelocityErr_maxAbs", "modelCount", "simTime", "time", "timeRatio", "classname"]
+           self.csv_writer.writerow(metrics)
+
+
+
+       def read_file(self,file_path: str):
+           benchmark_config = pd.read_csv(file_path, nrows=1).to_numpy()
+           states = pd.read_csv(file_path,skiprows=2).to_numpy()
+           return benchmark_config, states
+    
+       def get_file_names(self, result_folder: str):
+           '''Method to obtain the file names and file paths of benchmark result'''
+           result_dir = os.path.join(SOURCE_FOLDER, "test_results", BENCHMARK_NAME, "CSV")
+           file_names = os.listdir(result_dir) 
+           return result_dir, file_names
+       
+       def set_test_parameters(self, physic_engine, dt, complex, 
+                               collision, no_of_models, computation_time,
+                               class_name):
+           self.physics_engine = physic_engine
+           self.dt = dt
+           self.complex = complex
+           self.collision = collision
+           self.no_of_models = no_of_models
+           self.computation_time = computation_time
+           self.class_name = class_name
+       
+       def get_analytical_sol(self, sim_time: np.ndarray, model_no: int):
+           '''method to get the analytical solution for box benchmark'''
+
+           if not self.complex:
+            v0 = np.array([-0.9, 0.4, 0.1])
+            self.w0 = np.array([0.5, 0.0, 0.0])
+            self.gravity = np.array([0, 0, 0])
+           else:
+            v0 = np.array([-2.0, 2.0, 8.0])
+            self.w0 = np.array([0.1, 5.0, 0.1])
+            self.gravity = np.array([0, 0, -self.g])
+
+           self.pos0 = np.array([0,2*self.box_z*model_no,0])
+           print(f"  Initial position is {self.pos0} \n")
+
+           self.N = len(sim_time)
+           self.pos_a = np.zeros((self.N,3))
+           self.v_a = np.zeros((self.N,3))   
+
+           # calculation of initial energy and angular momentum
+           self.L0 = self.I.dot(self.w0)
+           self.L0_mag = np.linalg.norm(self.L0)
+
+           T0 = 0.5*self.m*v0.dot(v0) + 0.5*self.w0.dot(self.I.dot(self.w0))
+           V0 = - self.m*self.gravity.dot(self.pos0)
+           self.E0 = T0  + V0 
+           self.E0_mag = np.linalg.norm(self.E0)
+           
+           # calculation of velocity and position profile with time
+           for i, t in enumerate(sim_time):
+               self.v_a[i] = v0 + self.gravity*t
+               self.pos_a[i] = self.pos0 + v0*t + 0.5*self.gravity*t**2
+
+       def cal_metrics(self,states: np.ndarray):
+            '''Method for calculating the various error/metrics'''
+            sim_time = states[:,0]
+            v = states[:,2:5]
+            omega = states[:, 5:8]
+            pos = states[:, 8:11]
+            rot = states[:, 11:]
+
+            # calculation of energy and angular momentum error
+            E = np.zeros(self.N)
+            L = np.zeros((self.N,3))
+            for i in range(self.N):
+                # angular velocity in body frame
+                omega_w = omega[i].tolist()
+                quat = rot[i].tolist()
+                quat = Quaterniond(quat[0], quat[1], quat[2], quat[3])
+                omega_b = quat.rotate_vector_reverse(Vector3d(omega_w[0], omega_w[1], omega_w[2]))
+                omega_b = np.array([omega_b[0], omega_b[1], omega_b[2]])
+
+                # translation energy + rotational energy + potential energy
+                tran_E = 0.5*self.m*v[i].dot(v[i])
+                rot_E = 0.5*omega_b.dot(self.I.dot(omega_b))
+                V = - self.m*self.gravity.dot(pos[i])
+                E[i] = tran_E + rot_E + V
+
+                # angular momentum in body frame 
+                l_b = self.I.dot(omega_b).tolist()
+
+                # angular momentum in world frame
+                l_vector =  Vector3d(l_b[0], l_b[1],l_b[2])
+                l_w = quat.rotate_vector(l_vector)
+                L[i] = np.array([l_w[0], l_w[1], l_w[2]])
+
+            # calculation of velocity and postion error and their magnitude
+            v_error = (v - self.v_a)
+            self.v_error_mag = np.array([np.linalg.norm(x) for x in v_error])
+
+            pos_error = (pos - self.pos_a)
+            self.pos_error_mag = np.array([np.linalg.norm(p) for p in pos_error])
+ 
+            self.energy_error = (E - self.E0)/self.E0_mag
+            self.energy_error_mag = np.array([np.linalg.norm(e) for e in self.energy_error])
+
+            angmomentum_error = (L - self.L0)/self.L0_mag
+            self.angmomentum_error_mag = np.array([np.linalg.norm(l) for l in angmomentum_error])
+            
+            # calculating angle error
+            self.angle_error = np.zeros((self.N,3))
+            if not self.complex:
+                w0 = np.array([0.5, 0.0, 0.0])
+                for i in range(self.N):
+                    quat = rot[i].tolist()
+                    euler_angle = Quaterniond(quat[0], quat[1], quat[2], quat[3]).euler()
+                    true_angle = Quaterniond(w0[0]*sim_time[i], w0[1]*sim_time[i], w0[2]*sim_time[i]).euler()
+                    error = (euler_angle - true_angle)
+                    self.angle_error[i] = np.array([error.x(), error.y(), error.z()])
+            self.angle_error_mag = np.absolute(self.angle_error)
+
+            # calculating computional time for simulation
+            self.total_sim_time = sim_time[-1]
+            self.time_ratio = self.computation_time/self.total_sim_time
+            print(f"  Time ratio: {self.time_ratio} \n")
+          
+       def get_maxabs_error(self):
+           '''Method for calculation of maximum absolute error'''
+
+           self.v_maxabs_error = np.max(self.v_error_mag)
+           self.p_maxabs_error = np.max(self.pos_error_mag)
+           self.E_maxabs_error = np.max(self.energy_error_mag)
+           self.L_maxabs_error = np.max(self.angmomentum_error_mag)
+           self.a_maxabs_error_x = np.max(self.angle_error_mag[:, 0])
+           self.a_maxabs_error_y = np.max(self.angle_error_mag[:, 1])
+           self.a_maxabs_error_z = np.max(self.angle_error_mag[:, 2])
+
+           print("  -> Max absolute error")
+           print("  ----------------------------------")
+           print(f"  Linear velocity:  {self.v_maxabs_error} \n  Position:         {self.p_maxabs_error} \
+                 \n  Energy:           {self.E_maxabs_error} \n  Angular momentum: {self.L_maxabs_error} \
+                 \n  Angle_maxabs_x:   {self.a_maxabs_error_x} \n  Angle_maxabs_y:   {self.a_maxabs_error_y} \
+                 \n  Angle_maxabs_x    {self.a_maxabs_error_z}")
+           print("  ---------------------------------- \n")
+           
+       def get_avgabs_error(self):
+           '''Method for calculation of avg absolute error'''
+
+           v_avgabs_error = np.sum(self.v_error_mag)/self.N
+           p_avgabs_error = np.sum(self.pos_error_mag)/self.N
+           E_avgabs_error = np.sum(self.energy_error_mag)/self.N
+           L_avgabs_error = np.sum(self.angmomentum_error_mag)/self.N
+           a_avgabs_error_x = np.sum(self.angle_error_mag[:, 0])/self.N
+           a_avgabs_error_y = np.sum(self.angle_error_mag[:, 1])/self.N
+           a_avgabs_error_z = np.sum(self.angle_error_mag[:, 2])/self.N
+
+
+           print("  -> Average absolute error")
+           print("  ----------------------------------")
+           print(f"  Linear velocity:  {v_avgabs_error} \n  Position:         {p_avgabs_error} \
+                 \n  Energy:           {E_avgabs_error} \n  Angular momentum: {L_avgabs_error} ")
+           print("  ---------------------------------- \n")
+
+       def save_metrics(self):
+           
+           '''Save the current test metrics to csv file'''
+           self.get_maxabs_error()
+               
+           self.csv_writer.writerow([self.L0_mag, self.L_maxabs_error, self.a_maxabs_error_x, 
+                                     self.a_maxabs_error_y, self.a_maxabs_error_z, self.collision,
+                                     self.dt, self.E_maxabs_error, self.physics_engine, self.complex,
+                                     self.p_maxabs_error, self.v_maxabs_error, self.no_of_models,
+                                     self.total_sim_time, self.computation_time, self.time_ratio,
+                                     self.class_name])
+    
+
+       
+if __name__ == "__main__":
+    dir = BENCHMARK_NAME
+    print(f"BENCHMARK: {dir}")
+
+    post_processing = PostProcessing(dir)
+    result_dir , file_names = post_processing.get_file_names(dir)
+    file_names = sorted(file_names, reverse=True)
+
+    for file in file_names:
+        print(f"TEST: {file}")
+        file_path = os.path.join(result_dir,file)
+        config, states = post_processing.read_file(file_path)
+        physic_engine = config[0,0]
+        dt = config[0,1]
+        complex = bool(config[0,2])
+        collision = bool(config[0,3])
+        modelCount = config[0,4]
+        computation_time = config[0,5]
+        log_multiple = bool(config[0,6])
+        class_name = config[0,7]
+            
+        print(f" Physics engines: {physic_engine} \n Timestep: {dt} \n Complex: {complex} \n Number of models: {modelCount}")
+        post_processing.set_test_parameters(physic_engine, dt, complex, collision, modelCount, computation_time, class_name)
+
+        if log_multiple:
+            no_of_models = modelCount
+        else:
+            no_of_models = 1 
+        states_per_model = int(len(states[:,0])/no_of_models)
+        states = states.reshape(no_of_models, states_per_model,-1)
+
+        for i in range(no_of_models):
+            print(f" => Model number: {i+1}")
+            model_states = states[i]
+            sim_time = model_states[:,0]
+
+            post_processing.get_analytical_sol(sim_time, i)
+            post_processing.cal_metrics(model_states)
+            post_processing.save_metrics()
+    
+    post_processing.csv_file.close()
+    print(f"final metrics path {post_processing.metrics_path}")
+    data = pd.read_csv(post_processing.metrics_path)
+    storted_data = data.sort_values(by='dt')
+    storted_data.to_csv(post_processing.metrics_path, index=False)
diff --git a/boxes_results.ipynb b/boxes_results.ipynb
index 276bfe9..bea1fed 100644
--- a/boxes_results.ipynb
+++ b/boxes_results.ipynb
@@ -55,18 +55,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 11,
    "id": "6ecac817",
    "metadata": {},
    "outputs": [],
    "source": [
     "import matplotlib as mpl\n",
     "import matplotlib.pyplot as plt\n",
+    "import os\n",
+    "import sys\n",
     "%matplotlib inline\n",
     "%config InlineBackend.figure_format = 'png'\n",
     "mpl.rcParams.update({'font.size': 16})\n",
+    "path = os.path.abspath(\"tools\")\n",
+    "sys.path.append(path)\n",
     "import csv_dictionary\n",
-    "import plot_helpers as ph"
+    "import boxes.plot_helpers as ph"
    ]
   },
   {
@@ -178,10 +182,24 @@
   }
  ],
  "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
   "language_info": {
-   "name": "python"
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
   }
  },
  "nbformat": 4,
  "nbformat_minor": 5
-}
\ No newline at end of file
+}
diff --git a/img/triball/cone_pyramid.png b/img/triball/cone_pyramid.png
new file mode 100644
index 0000000..ca0178f
Binary files /dev/null and b/img/triball/cone_pyramid.png differ
diff --git a/img/triball/triball_friction_cone.gif b/img/triball/triball_friction_cone.gif
new file mode 100644
index 0000000..3f90619
Binary files /dev/null and b/img/triball/triball_friction_cone.gif differ
diff --git a/img/triball/triball_friction_pyramid.gif b/img/triball/triball_friction_pyramid.gif
new file mode 100644
index 0000000..98722ee
Binary files /dev/null and b/img/triball/triball_friction_pyramid.gif differ
diff --git a/img/triball/triball_static.jpg b/img/triball/triball_static.jpg
new file mode 100644
index 0000000..72a36d1
Binary files /dev/null and b/img/triball/triball_static.jpg differ
diff --git a/log.hh b/log.hh
index 10e9c4b..5ef0305 100644
--- a/log.hh
+++ b/log.hh
@@ -2,6 +2,7 @@
 #include "mcap/writer.hpp"
 #include "protobuf/BuildFileDescriptorSet.h"
 #include <boxes_msg.pb.h>
+#include <triball_msg.pb.h>
 #include <iostream>
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/Vector3.hh>
@@ -51,6 +52,49 @@ class Log
         msg.add_data()->set_model_no(1);
     }
 
+    public: void setTriballMsg(const std::string &_physicsEngine, 
+                     double &_slope, float &_frictionCoefficient,
+                     bool &_complex, const std::string &_frictionModel,
+                     double _cogH, bool _equalKE)
+    {
+      mcap::Schema schema("benchmark_proto.TriballsMsg", "protobuf",
+                         foxglove::BuildFileDescriptorSet(benchmark_proto::TriballsMsg::descriptor()).SerializeAsString());
+    
+      writer.addSchema(schema);
+      mcap::Channel channel("model_states", "protobuf", schema.id);
+      writer.addChannel(channel);
+      channelId = channel.id;
+      msg.set_physics_engine(_physicsEngine);
+      msg.set_slope(_slope);
+      msg.set_friction_coefficient(_frictionCoefficient);
+      msg.set_complex(_complex);
+      msg.set_friction_model(_frictionModel);
+      msg.set_cog_h(_cogH);
+      msg.set_equal_ke(_equalKE);
+
+      int modelCount;
+      if(_complex)
+      {
+       modelCount = 32;
+      }
+      else
+      {
+       modelCount = 5;
+      }
+     
+      for(int i = 0; i < modelCount; i++)
+      {
+        msg.add_data()->set_model_no(i);
+
+        for(int j = 0; j < 3; j++)
+        {
+         msg.mutable_data(i)->add_contact_info(); 
+        }
+        
+      }
+    
+    }
+
     public: void stop()
     {
       std::string serialized = msg.SerializeAsString();
@@ -131,7 +175,91 @@ class Log
       twist->mutable_angular()->set_z(_angVelocity.Z());           
     }
 
+    public: void recordAccel(int &_modelIdx, const std::vector<double> &_linAccel,
+                             const std::vector<double> &_angAccel)
+    {
+      auto accel = msg.mutable_data(_modelIdx)->add_acceleration();
+
+      accel->mutable_linear()->set_x(_linAccel[0]);
+      accel->mutable_linear()->set_y(_linAccel[1]);
+      accel->mutable_linear()->set_z(_linAccel[3]);
+    
+      accel->mutable_angular()->set_x(_angAccel[0]);
+      accel->mutable_angular()->set_y(_angAccel[1]);
+      accel->mutable_angular()->set_z(_angAccel[3]); 
+    }
+
+    public: void recordAccel(int &_modelIdx, const ignition::math::Vector3d &_linAccel,
+                             const ignition::math::Vector3d &_angAccel)
+    {
+      auto accel = msg.mutable_data(_modelIdx)->add_acceleration();
+
+      accel->mutable_linear()->set_x(_linAccel.X());
+      accel->mutable_linear()->set_y(_linAccel.Y());
+      accel->mutable_linear()->set_z(_linAccel.Z());
+    
+      accel->mutable_angular()->set_x(_angAccel.X());
+      accel->mutable_angular()->set_y(_angAccel.Y());
+      accel->mutable_angular()->set_z(_angAccel.Z()); 
+    }
+
+    public: void recordContactInfo(int &_modelIdx, int &_contactIdx, bool contactStatus,
+                                   const std::vector<double> &_position, const std::vector<double> &_normal,
+                                   const std::vector<double> &_force, const std::vector<double> &_torque)
+    {
+      auto contact_status = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx);
+      auto contact_pos = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_position();
+      auto contact_normal = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_normal(); 
+      auto contact_wrench = msg.mutable_date(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_wrench();
+      
+      contact_status->add_contact_status(contactStatus);
+      contact_pos->set_x(_position[0]);
+      contact_pos->set_y(_position[1]);
+      contact_pos->set_z(_position[2]);
+    
+      contact_normal->set_x(_normal[0]);
+      contact_normal->set_y(_normal[1]);
+      contact_normal->set_z(_normal[2]); 
+
+      contact_wrench->mutale_forces()->set_x(_force[0]);
+      contact_wrench->mutale_forces()->set_y(_force[1]);
+      contact_wrench->mutale_forces()->set_z(_force[2]);
+
+      contact_wrench->mutale_torques()->set_x(_torque[0]);
+      contact_wrench->mutale_torques()->set_y(_torque[2]);
+      contact_wrench->mutale_torques()->set_z(_torque[3]);
+    }
+
+    public: void recordContactInfo(int &_modelIdx, int &_contactIdx, bool contactStatus,
+                                   const ignition::math::Vector3d &_position, const ignition::math::Vector3d &_normal,
+                                   const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_torque)
+    { 
+      auto contact_status = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx);
+      auto contact_pos = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_position();
+      auto contact_normal = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_normal(); 
+      auto contact_wrench = msg.mutable_data(_modelIdx)->mutable_contact_info(_contactIdx)->add_contact_wrench();
+      
+      contact_status->add_contact_status(contactStatus);
+      contact_pos->set_x(_position.X());
+      contact_pos->set_y(_position.Y());
+      contact_pos->set_z(_position.Z());
+    
+      contact_normal->set_x(_normal.X());
+      contact_normal->set_y(_normal.Y());
+      contact_normal->set_z(_normal.Z()); 
+
+      contact_wrench->mutable_forces()->set_x(_force.X());
+      contact_wrench->mutable_forces()->set_y(_force.Y());
+      contact_wrench->mutable_forces()->set_z(_force.Z());
+
+      contact_wrench->mutable_torques()->set_x(_torque.X());
+      contact_wrench->mutable_torques()->set_y(_torque.Y());
+      contact_wrench->mutable_torques()->set_z(_torque.Z());
+    }
+
+    
+
     private: mcap::McapWriter writer;
     private: mcap::ChannelId channelId;
-    private: T msg;
+    private: T msg;                   
 };
\ No newline at end of file
diff --git a/proto/Accel.proto b/proto/Accel.proto
new file mode 100644
index 0000000..4cc9f97
--- /dev/null
+++ b/proto/Accel.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+import "Vector3.proto";
+
+package benchmark_proto;
+
+
+message Accel{
+    // linear acceleration in world frame 
+    benchmark_proto.Vector3 linear = 1; 
+
+    // angular acceleration in world frame
+    benchmark_proto.Vector3 angular = 2;
+}
\ No newline at end of file
diff --git a/proto/Pose.proto b/proto/Pose.proto
new file mode 100644
index 0000000..b702031
--- /dev/null
+++ b/proto/Pose.proto
@@ -0,0 +1,15 @@
+syntax = "proto3";
+
+import "Quaternion.proto";
+import "Vector3.proto";
+
+package benchmark_proto;
+
+// A position and orientation for an object or reference frame in 3D space
+message Pose {
+  // Point denoting position in 3D space
+  benchmark_proto.Vector3 position = 1;
+
+  // Quaternion denoting orientation in 3D space
+  benchmark_proto.Quaternion orientation = 2;
+}
\ No newline at end of file
diff --git a/proto/Quaternion.proto b/proto/Quaternion.proto
new file mode 100644
index 0000000..78da979
--- /dev/null
+++ b/proto/Quaternion.proto
@@ -0,0 +1,17 @@
+syntax = "proto3";
+
+package benchmark_proto;
+
+message Quaternion {
+  // x value
+  double x = 1;
+
+  // y value
+  double y = 2;
+
+  // z value
+  double z = 3;
+
+  // w value
+  double w = 4;
+}
\ No newline at end of file
diff --git a/proto/Twist.proto b/proto/Twist.proto
new file mode 100644
index 0000000..07baee7
--- /dev/null
+++ b/proto/Twist.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+import "Vector3.proto";
+
+package benchmark_proto;
+
+
+message Twist{
+    // linear velocity in world frame
+    benchmark_proto.Vector3 linear = 1;
+
+    //angular velocity in world frame 
+    benchmark_proto.Vector3 angular = 2;
+}
\ No newline at end of file
diff --git a/proto/Vector3.proto b/proto/Vector3.proto
new file mode 100644
index 0000000..3bb7f9e
--- /dev/null
+++ b/proto/Vector3.proto
@@ -0,0 +1,15 @@
+syntax = "proto3";
+
+package benchmark_proto;
+
+// A vector in 3D space that represents a direction only
+message Vector3 {
+  // x coordinate length
+  double x = 1;
+
+  // y coordinate length
+  double y = 2;
+
+  // z coordinate length
+  double z = 3;
+}
diff --git a/proto/Wrench.proto b/proto/Wrench.proto
new file mode 100644
index 0000000..7f516b5
--- /dev/null
+++ b/proto/Wrench.proto
@@ -0,0 +1,12 @@
+syntax = "proto3";
+import "Vector3.proto";
+
+package benchmark_proto;
+
+message Wrench{
+    // forces in world frame
+    benchmark_proto.Vector3 forces = 1;
+
+    // torques in world frame
+    benchmark_proto.Vector3 torques = 2;
+}
\ No newline at end of file
diff --git a/proto/boxes_msg.proto b/proto/boxes_msg.proto
index f476b46..20c7155 100644
--- a/proto/boxes_msg.proto
+++ b/proto/boxes_msg.proto
@@ -1,45 +1,8 @@
 syntax = "proto3";
+import "Pose.proto";
+import "Twist.proto";
 
 package benchmark_proto;
-message  Pose{
-    // position in world frame
-    Vector3 position = 1;
-
-    // orientation of boyd wrt world frame
-    Quaternion orientation = 2;
-}
-
-message Twist{
-    // linear velocity in world frame
-    Vector3 linear = 1;
-
-    //angular velocity in world frame 
-    Vector3 angular = 2;
-}
-
-message Vector3 {
-    // x coordinate length
-    double x = 1;
-  
-    // y coordinate length
-    double y = 2;
-  
-    // z coordinate length
-    double z = 3;
-  }
-message Quaternion {
-    // x value
-    double x = 1;
-  
-    // y value
-    double y = 2;
-  
-    // z value
-    double z = 3;
-  
-    // w value
-    double w = 4;
-  }
   
 
 message BoxesMsg {
@@ -65,10 +28,10 @@ message BoxesMsg {
     // model number 
     int32 model_no = 1;
     // model pose in world frame
-    repeated Pose poses = 4;
+    repeated benchmark_proto.Pose poses = 4;
 
     // model twist in world frame
-    repeated Twist twists = 5;
+    repeated benchmark_proto.Twist twists = 5;
     }
     // simulation time
     repeated double sim_time = 7;
diff --git a/proto/triball_msg.proto b/proto/triball_msg.proto
new file mode 100644
index 0000000..3ee092f
--- /dev/null
+++ b/proto/triball_msg.proto
@@ -0,0 +1,70 @@
+
+syntax = "proto3";
+
+import "Pose.proto";
+import "Vector3.proto";
+import "Wrench.proto";
+import "Twist.proto";
+import "Accel.proto";
+
+package benchmark_proto;
+
+message ContactInfo{
+    // contact on
+    repeated bool contact_status = 1;
+
+    // model contact position
+    repeated benchmark_proto.Vector3 contact_position = 2;
+
+    // model contact normal 
+    repeated benchmark_proto.Vector3 contact_normal = 3;
+
+    // model Wrench 
+    repeated benchmark_proto.Wrench contact_wrench = 4; 
+}
+
+message TriballsMsg {
+    // name of physics engine
+    string physics_engine = 1;
+
+    // gravity option 
+    double slope = 2;
+
+    // collision check
+    double friction_coefficient = 3;
+
+    // fixed configuration 
+    bool complex = 4;
+    
+    // friction model pyramid or cone
+    string friction_model = 5;
+
+    // centre of gravity height
+    double cog_h = 6;
+
+    // log if models have equal kinetic energy
+    bool equal_ke = 7;
+
+    message TriballMsg{
+    // model number 
+    int32 model_no = 1;
+    // model pose in world frame
+    repeated benchmark_proto.Pose poses = 2;
+
+    // model twist in world frame
+    repeated benchmark_proto.Twist twists = 3;
+
+    // model acceleration 
+    repeated benchmark_proto.Accel acceleration = 4;
+    
+    // model contact information
+    repeated ContactInfo contact_info = 5;
+    }
+    // simulation time
+    repeated double sim_time = 8;
+
+    // computational time
+    double computation_time = 9;
+    // array of box msg
+    repeated TriballMsg data = 10;
+}
diff --git a/test_results/BENCHMARK_triball_configuration_20240817-194729.csv b/test_results/BENCHMARK_triball_configuration_20240817-194729.csv
new file mode 100644
index 0000000..f417079
--- /dev/null
+++ b/test_results/BENCHMARK_triball_configuration_20240817-194729.csv
@@ -0,0 +1,81 @@
+energy0,energyErr_maxabs,contactForceErr_a_maxAbs,contactForceErr_b_maxAbs,contactForceErr_c_maxAbs,frictionForceMagErr_a_maxAbs,frictionForceMagErr_b_maxAbs,frictionForceMagErr_c_maxAbs,frictionForceDirErr_a_maxAbs,frictionForceDirErr_b_maxAbs,frictionForceDirErr_c_maxAbs,face_angle,dt,engine,friction_coefficient,friction_model,cog_h,surface_slope,isComplex,modelCount,simTime,time,timeRatio,classname
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diff --git a/tools/TestMacro.cmake b/tools/TestMacro.cmake
index b316fcb..d7f7b2d 100644
--- a/tools/TestMacro.cmake
+++ b/tools/TestMacro.cmake
@@ -63,8 +63,14 @@ macro (gz_build_tests)
 	  #   ${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
 
     # Convert junit file to csv and place in test_results in source folder.
-    add_test(NAME csv_${BINARY_NAME}
-      COMMAND python3 ${PROJECT_SOURCE_DIR}/tools/mcap_to_csv.py ${BINARY_NAME}
+    add_test(NAME mcap2csv_${BINARY_NAME}
+      COMMAND python3 ${PROJECT_SOURCE_DIR}/tools/${TEST_NAME}/mcap_to_csv.py 
+      ${BINARY_NAME}
+    )
+
+    add_test(NAME post_processing_${BINARY_NAME}
+      COMMAND python3 ${PROJECT_SOURCE_DIR}/boxes_post_processing.py 
+      ${BINARY_NAME}
     )
 
     install(TARGETS ${BINARY_NAME}
@@ -73,4 +79,5 @@ macro (gz_build_tests)
   endforeach()
 
   set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS "")
+  set(TEST_NAME "")
 endmacro()
diff --git a/tools/boxes/mcap_to_csv.py b/tools/boxes/mcap_to_csv.py
new file mode 100644
index 0000000..0c11fc0
--- /dev/null
+++ b/tools/boxes/mcap_to_csv.py
@@ -0,0 +1,113 @@
+
+import os
+import sys
+tools_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+benchmark_dir = os.path.dirname(tools_dir)
+print(f"the path is {benchmark_dir}")
+sys.path.append(os.path.join(benchmark_dir,"mcap/python/mcap"))
+sys.path.append(os.path.join(benchmark_dir, "mcap/python/mcap-protobuf-support"))
+from mcap_protobuf.decoder import DecoderFactory
+from mcap.reader import make_reader
+import csv
+
+BENCHMARK_NAME = sys.argv[1]
+
+STATES_NAMES = ["sim_time",
+                "model_no",
+                "linear_velocity_x",
+                "linear_velocity_y",
+                "linear_velocity_z",
+                "angular_velocity_x",
+                "angular_velocity_y",
+                "angular_velocity_z",
+                "position_x",
+                "position_y",
+                "position_z",
+                "quaternion_w",
+                "quaternion_x",
+                "quaternion_y",
+                "quaternion_z",]
+
+CONFIGURATION  = ["physics_engine", "time_step", "complex", 
+                  "collisiion", "model_count","wall_time", 
+                  "log_multiple", "classname"]
+
+
+
+def get_file_names(result_folder):
+    result_dir = os.path.join(benchmark_dir,"test_results", result_folder)
+    mcap_dir = os.path.join(result_dir, "MCAP")
+    file_names = os.listdir(mcap_dir)
+    csv_dir = os.path.join(result_dir,"CSV")
+    if not os.path.isdir(csv_dir):
+        os.mkdir(csv_dir)
+    return result_dir, file_names
+
+
+def MCAP_to_CSV(result_dir, file_name):
+
+    csv_filename = file_name.split('.mcap')[0] + '.csv'
+    
+    csv_filepath = os.path.join(result_dir,"CSV",csv_filename)
+    mcap_filepath = os.path.join(result_dir,"MCAP",file_name)
+
+    csv_file = open(csv_filepath, mode='w', newline='')
+    csv_writer = csv.writer(csv_file)
+    csv_writer.writerow(CONFIGURATION)
+    
+
+    with open(mcap_filepath, "rb") as f:
+        reader = make_reader(f, decoder_factories=[DecoderFactory()])
+            
+        for schema, channel, message, proto_msg in reader.iter_decoded_messages():
+            time_steps = proto_msg.sim_time
+            physics_engine = proto_msg.physics_engine
+            dt = proto_msg.dt
+            complex = proto_msg.complex
+            collision = proto_msg.collision
+            model_count = proto_msg.model_count
+            wall_time = proto_msg.computation_time
+            log_multiple = proto_msg.log_multiple
+
+            if complex:
+                class_name = "DtComplex"
+            else:
+                class_name = "DtSimple"
+
+            if "dartsim-plugin" in physics_engine:
+               engine = "dart"
+            elif "bullet-featherstone-plugin" in physics_engine:
+               engine = "bullet-featherstone"
+            elif "bullet-plugin" in physics_engine:
+               engine = "bullet"
+            else:
+                engine = physics_engine
+
+            csv_writer.writerow([engine, dt, complex, collision, model_count,
+                                 wall_time, log_multiple, class_name])
+
+            csv_writer.writerow(STATES_NAMES)
+            for data in proto_msg.data:
+                for t in range(len(time_steps)):
+                    row = [ time_steps[t], data.model_no, 
+                            data.twists[t].linear.x, data.twists[t].linear.y,
+                            data.twists[t].linear.z, data.twists[t].angular.x, 
+                            data.twists[t].angular.y, data.twists[t].angular.z, 
+                            data.poses[t].position.x, data.poses[t].position.y, 
+                            data.poses[t].position.z, data.poses[t].orientation.w, 
+                            data.poses[t].orientation.x, data.poses[t].orientation.y,
+                            data.poses[t].orientation.z]
+                    
+                    csv_writer.writerow(row)
+                
+        csv_file.close()
+    
+            
+
+print("Started converting files from MCAP to CSV")
+
+result_dir,file_names = get_file_names(BENCHMARK_NAME)
+for file_name in file_names:
+    MCAP_to_CSV(result_dir, file_name)
+
+print("Successfully !! converted all files from MCAP to CSV")
diff --git a/plot_helpers.py b/tools/boxes/plot_helpers.py
similarity index 98%
rename from plot_helpers.py
rename to tools/boxes/plot_helpers.py
index ac362bd..3225435 100644
--- a/plot_helpers.py
+++ b/tools/boxes/plot_helpers.py
@@ -53,14 +53,16 @@ def plotEnginesDt(params, yname
     if not skipDart:
         engines['dart'] = ['$d$', 'g--']
     engines['ode'] = ['$O$', 'r--']
-    engines['simbody'] = ['$S$', 'k--']
+    # engines['simbody'] = ['$S$', 'k--']
     fig = plt.figure()
     xdata = {}
     ydata = {}
     for e in sorted(engines.keys()):
         params['engine'] = e
         ii = np.array(list(query(csvDict, params)))
+        print(f"here here {ii} {e}")
         xdata[e] = csvDict[xname][ii]
+        
         ydata[e] = csvDict[yname][ii]
         color = engines[e][1][0]
         plt.plot(xdata[e]
diff --git a/tools/triball/mcap_to_csv.py b/tools/triball/mcap_to_csv.py
new file mode 100644
index 0000000..f0f0632
--- /dev/null
+++ b/tools/triball/mcap_to_csv.py
@@ -0,0 +1,148 @@
+
+import os
+import sys
+tools_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+benchmark_dir = os.path.dirname(tools_dir)
+sys.path.append(os.path.join(benchmark_dir,"mcap/python/mcap"))
+sys.path.append(os.path.join(benchmark_dir, "mcap/python/mcap-protobuf-support"))
+from mcap_protobuf.decoder import DecoderFactory
+from mcap.reader import make_reader
+import csv
+
+DIRECTORY_NAME = sys.argv[1]
+
+STATES_NAMES = ["sim_time", "model_no", "linear_accel_x", "linear_accel_y",
+                "linear_accel_z", "angular_accel_x", "angular_accel_y",
+                "angular_accel_z", "linear_vel_x", "linear_vel_y",
+                "linear_vel_z", "angular_vel_x", "angular_vel_y",
+                "angular_vel_z", "pos_x", "pos_y", "pos_z", "quat_w",
+                "quat_x", "quat_y", "quat_z"]
+
+for i in range(1,4):
+    contact_info = []
+    status = ["{}{}{}".format("contact", str(i), "_status")]
+    contact_info += status
+    for j in ["_pos_", "_normal_", "force", "_torque_"]:
+        x = ["{}{}{}".format("contact", str(i),  j + "x")]
+        y = ["{}{}{}".format("contact", str(i), j + "y")]
+        z = ["{}{}{}".format("contact", str(i), j + "z")]
+        contact_info += x + y + z
+    STATES_NAMES = STATES_NAMES + contact_info
+
+CONFIGURATION  = ["physics_engine", "time_step", "complex", 
+                  "slope", "friction coefficeint","friction model", 
+                  "cog height", "cog_h", "wall_time", "equal_KE"]
+
+
+
+def get_file_names(result_folder):
+    result_dir = os.path.join(benchmark_dir,"test_results", result_folder)
+    result_dir = os.path.expanduser(result_dir)
+    mcap_dir = os.path.join(result_dir, "MCAP")
+    file_names = os.listdir(mcap_dir)
+    csv_dir = os.path.join(result_dir,"CSV")
+    if not os.path.isdir(csv_dir):
+        os.mkdir(csv_dir)
+    return result_dir, file_names
+
+def add_twist(data, t):
+    return [data.twists[t].linear.x, data.twists[t].linear.y,
+            data.twists[t].linear.z, data.twists[t].angular.x, 
+            data.twists[t].angular.y, data.twists[t].angular.z]
+
+def add_pose(data, t):
+    return [data.poses[t].position.x, data.poses[t].position.y, 
+            data.poses[t].position.z, data.poses[t].orientation.w, 
+            data.poses[t].orientation.x, data.poses[t].orientation.y,
+            data.poses[t].orientation.z]
+
+def add_acceleration(data, t):
+    return [data.acceleration[t].linear.x, data.acceleration[t].linear.y,
+            data.acceleration[t].linear.z, data.acceleration[t].angular.x, 
+            data.acceleration[t].angular.y, data.acceleration[t].angular.z]
+
+def add_contact_status(data, t, idx):
+    return [data.contact_info[idx].contact_status[t]]
+
+def add_contact_position(data, t, idx):
+    return [data.contact_info[idx].contact_position[t].x, 
+            data.contact_info[idx].contact_position[t].y,
+            data.contact_info[idx].contact_position[t].z]
+
+def add_contact_normal(data, t ,idx):
+    return [data.contact_info[idx].contact_normal[t].x, 
+            data.contact_info[idx].contact_normal[t].y,
+            data.contact_info[idx].contact_normal[t].z]
+
+def add_contact_wrench(data, t, idx):
+    return [data.contact_info[idx].contact_wrench[t].forces.x, 
+            data.contact_info[idx].contact_wrench[t].forces.y,
+            data.contact_info[idx].contact_wrench[t].forces.z,
+            data.contact_info[idx].contact_wrench[t].torques.x, 
+            data.contact_info[idx].contact_wrench[t].torques.y,
+            data.contact_info[idx].contact_wrench[t].torques.z]
+
+def MCAP_to_CSV(result_dir, file_name):
+
+    csv_filename = file_name.split('.mcap')[0] + '.csv'
+    
+    csv_filepath = os.path.join(result_dir,"CSV",csv_filename)
+    mcap_filepath = os.path.join(result_dir,"MCAP",file_name)
+
+    csv_file = open(csv_filepath, mode='w', newline='')
+    csv_writer = csv.writer(csv_file)
+    csv_writer.writerow(CONFIGURATION)
+    
+
+    with open(mcap_filepath, "rb") as f:
+        reader = make_reader(f, decoder_factories=[DecoderFactory()])
+            
+        for schema, channel, message, proto_msg in reader.iter_decoded_messages():
+            time_steps = proto_msg.sim_time
+            physics_engine = proto_msg.physics_engine
+            slope  = proto_msg.slope
+            complex = proto_msg.complex
+            friction_model = proto_msg.friction_model
+            friction_coefficeint = proto_msg.friction_coefficient
+            wall_time = proto_msg.computation_time
+            cog_h = proto_msg.cog_h
+            equal_KE = proto_msg.equal_ke
+            dt = 1e-3
+
+
+            if "dartsim-plugin" in physics_engine:
+               engine = "dart"
+            elif "bullet-featherstone-plugin" in physics_engine:
+               engine = "bullet-featherstone"
+            elif "bullet-plugin" in physics_engine:
+               engine = "bullet"
+            else:
+                engine = physics_engine
+
+            csv_writer.writerow([engine, dt, complex, slope, friction_coefficeint,
+                                 friction_model, cog_h, wall_time, equal_KE])
+
+            csv_writer.writerow(STATES_NAMES)
+            for data in proto_msg.data:
+                for t in range(len(time_steps)):
+                    row = [time_steps[t], data.model_no] + add_acceleration(data, t) +\
+                          add_twist(data, t) + add_pose(data, t) 
+                    
+                    for idx in range(3):
+                        row = row + add_contact_status(data, t, idx) + add_contact_position(data, t , idx) +\
+                              add_contact_normal(data, t, idx) + add_contact_wrench(data, t, idx)
+                    
+                    csv_writer.writerow(row)
+                
+        csv_file.close()
+    
+            
+
+print("Started converting files from MCAP to CSV")
+
+result_dir,file_names = get_file_names(DIRECTORY_NAME)
+for file_name in file_names:
+    MCAP_to_CSV(result_dir, file_name)
+    print(file_name)
+
+print("Successfully !! converted all files from MCAP to CSV")
diff --git a/triball.cc b/triball.cc
new file mode 100644
index 0000000..7d3823c
--- /dev/null
+++ b/triball.cc
@@ -0,0 +1,198 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Vector3.hh>
+
+#include "PathConfig.h"
+#include "triball.hh"
+#include "gazebo/common/common.hh"
+#include "gazebo/msgs/msgs.hh"
+#include "gazebo/physics/physics.hh"
+#include "gazebo/physics/ContactManager.hh"
+#include <boost/format.hpp>
+#include <sstream>
+#include "log.hh"
+
+using namespace gazebo;
+using namespace benchmark;
+
+void TriballTest::Triball(const std::string &_physicsEngine, const std::string &_frictionModel, 
+                          bool _complex, double _surfaceSlope, float _frictionCoefficient
+                          , double _cogH, bool _equalKE)
+{
+  
+  // logging result directory location
+  std::string result_name = boost::str(boost::format("%1%/%2%/MCAP/triball_frictionModel"
+                                       "%3%_complex%4%_surfaceSlope%5%_frictionCoefficient%6%_cogH%7%_equalKE%8%_%9%.mcap") 
+                                       % RESULT_DIR_PATH % TEST_NAME % _frictionModel % _complex 
+                                       % _surfaceSlope % _frictionCoefficient % _cogH % _equalKE %
+                                       _physicsEngine);
+
+  Log<benchmark_proto::TriballsMsg> log(result_name);
+  // setting benchmark parameters
+  log.setTriballMsg(_physicsEngine, _surfaceSlope, _frictionCoefficient, 
+                    _complex, _frictionModel, _cogH, _equalKE);
+
+  // World creation based on test parameters using boxes.world.erb file.
+  std::string world_erb_path =
+      boost::str(boost::format("%1%/triball_contact.world.erb") % WORLDS_DIR_PATH);
+
+  std::string worldPath = boost::str(
+      boost::format(
+          "%1%/%2%/"
+          "triball_frictionModel%3%_complex%4%_surfaceSlope%5%_frictionCoefficient%6%_cogH%7%_equalKE%8%.world") %
+      WORLDS_DIR_PATH % TEST_NAME % _frictionModel % _complex % _surfaceSlope % _frictionCoefficient %
+      _cogH % _equalKE);
+
+  // Final world sdf path
+  std::string command = boost::str(
+      boost::format(
+          "erb frictionModel=%1% complex=%2% surfaceSlope=%3% fritionCoefficient=%4% cogH=%5% %6% > %7%") %
+      _frictionModel % _complex % _surfaceSlope % _frictionCoefficient % _cogH % world_erb_path % worldPath);
+  
+  // execute command
+  auto commandCheck =  system(command.c_str());
+  ASSERT_EQ(commandCheck, 0);
+
+  Load(worldPath, true, _physicsEngine);
+ 
+  physics::WorldPtr world = physics::get_world("default");
+  ASSERT_NE(world, nullptr);
+
+  physics::PhysicsEnginePtr physics = world->Physics();
+  ASSERT_NE(physics, nullptr);
+  ASSERT_EQ(physics->GetType(), _physicsEngine);
+  physics->SetRealTimeUpdateRate(0.0);
+
+  physics::ContactManager *mgr = physics->GetContactManager();
+  mgr->SetNeverDropContacts(true);
+  world->Step(1);
+ 
+  ASSERT_TRUE(mgr->NeverDropContacts());
+  ASSERT_GT(mgr->GetContactCount(), 0);
+
+  // initial time
+  common::Time t0 = world->SimTime();
+
+  ignition::math::Vector3d gravity = world->Gravity();
+
+  std::size_t modelCount = world->ModelCount();
+  // checking if number of model spwaned are correct.
+  if(!_complex)
+  {
+    ASSERT_EQ(modelCount, 6);
+  }
+  else
+  {
+    ASSERT_EQ(modelCount, 20);
+  }
+
+  auto contacts = mgr->GetContacts();
+  auto models = world->Models();
+  int contactCount = 3;
+  EXPECT_EQ(mgr->GetContactCount(), contactCount*(modelCount - 1));
+
+  physics::LinkPtr link; 
+  
+  double _dt = 0.001;
+  const double simDuration = 1;
+  int steps = ceil(simDuration/_dt);
+
+  std::vector<std::string> collisionNames{"collision_a", "collision_b", "collision_c"};
+  collisionNames.reserve(3);
+  
+  common::Time startTime = common::Time::GetWallTime();
+
+  for(int i = 0; i<steps; ++i)
+  {
+   world->Step(1);
+   EXPECT_EQ(mgr->GetContactCount(), contactCount*(modelCount - 1));
+   double t = (world->SimTime() - t0).Double();
+   log.recordSimTime(t);
+
+   for(int model_no = 1; model_no < modelCount; model_no++)
+   {
+    auto model = models[model_no];
+    link = model->GetLink();
+    auto modelIdx = model_no - 1;
+
+    ignition::math::Pose3d pose = link->WorldInertialPose();
+    log.recordPose(modelIdx, pose);
+
+    ignition::math::Vector3d linearVelocity = link->WorldLinearVel();
+    ignition::math::Vector3d angularVelocity = link->WorldAngularVel();
+    log.recordTwist(modelIdx, linearVelocity, angularVelocity);
+
+    ignition::math::Vector3d linearAcceleration = link->WorldLinearAccel();
+    ignition::math::Vector3d angularAcceleration = link->WorldAngularAccel();
+    log.recordAccel(modelIdx, linearAcceleration, angularAcceleration);
+
+    for(int contactIdx = 0; contactIdx < collisionNames.size(); contactIdx++)
+    { 
+      bool contactStatus = false;
+      ignition::math::Vector3d contactPosition;
+      ignition::math::Vector3d contactNormal;
+      ignition::math::Vector3d contactForce;
+      ignition::math::Vector3d contactTorque;
+
+      for(auto contact : contacts)
+      { 
+        std::string scopedName(contact->collision1->GetScopedName());
+        std::string collisionName(scopedName.substr(scopedName.rfind("::") +2));
+
+        if(collisionName == collisionNames[contactIdx] && 
+           contact->collision1->GetLink() == link)
+        { 
+          contactStatus = true;
+          contactPosition = contact->positions[0];
+          contactNormal = contact->normals[0];
+          contactForce = contact->wrench[0].body1Force;
+          contactTorque = contact->wrench[0].body1Torque;
+        }  
+      }
+      log.recordContactInfo(modelIdx, contactIdx, contactStatus, contactPosition, 
+                              contactNormal, contactForce, contactTorque);
+    }
+   }
+  }
+  
+  double elapsedTime = (common::Time::GetWallTime() - startTime).Double();
+  log.recordComputationTime(elapsedTime);
+
+  common::Time simTime = (world->SimTime() - t0).Double();
+  ASSERT_NEAR(simTime.Double(), simDuration, _dt * 1.1);
+
+  log.stop();
+}
+
+/////////////////////////////////////////////////
+TEST_P(TriballTest, Triball) {
+  std::string physicsEngine = std::tr1::get<0>(GetParam());
+  std::string frictionModel = std::tr1::get<1>(GetParam());
+  bool complex = std::tr1::get<2>(GetParam());
+  double surfaceSlope = std::tr1::get<3>(GetParam());
+  float frictionCoefficient = std::tr1::get<4>(GetParam());
+  float cogH = std::tr1::get<5>(GetParam());
+  float equalKE = std::tr1::get<6>(GetParam());
+
+  gzdbg << physicsEngine << ", friction model: " << frictionModel << ", complex: " << complex
+        << ", surface slope: " << surfaceSlope << ", friction coefficient: " << frictionCoefficient
+        << " center of gravity of height" << cogH << std::endl << " equal kinetic energy" << equalKE;
+
+  Triball(physicsEngine, frictionModel, complex, surfaceSlope, frictionCoefficient, cogH, equalKE);
+}
diff --git a/triball.hh b/triball.hh
new file mode 100644
index 0000000..8772a66
--- /dev/null
+++ b/triball.hh
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef BENCHMARK_GAZEBO_TRIBALL_HH_
+#define BENCHMARK_GAZEBO_TRIBALL_HH_
+
+#include <string>
+#include "gazebo/test/ServerFixture.hh"
+
+namespace gazebo
+{
+  namespace benchmark
+  {
+    // physics engine
+    // dt
+    // number of boxes to spawn
+    // collision shape on / off
+    // complex trajectory on / off
+    typedef std::tr1::tuple < const char *
+                            , const char *
+                            , bool
+                            , double
+                            , float
+                            , double
+                            , bool
+                            > char1double1int1bool2;
+
+    class TriballTest : public ServerFixture,
+                      public testing::WithParamInterface<char1double1int1bool2>
+    {
+      /// \brief Test accuracy of unconstrained rigid body motion.
+      /// \param[in] _physicsEngine Physics engine to use.
+      /// \param[in] _frictionModel Max time step size.
+      /// \param[in] _complex Number of boxes to spawn.
+      /// \param[in] _surfaceSlope Flag for collision shape on / off.
+      /// \param[in] _frictionCoefficient Flag for complex trajectory on / off.
+      /// \param[in] _cogH
+      /// \param[in] _equalKE
+      public: void Triball(const std::string &_physicsEngine
+                       , const std::string &_frictionModel
+                       , bool _complex
+                       , double _surfaceSlope
+                       , float _frictionCoefficient
+                       , double _cogH
+                       , bool _equalKE);
+    };
+  }
+}
+#endif
\ No newline at end of file
diff --git a/triball_configuration.cc b/triball_configuration.cc
new file mode 100644
index 0000000..df48a62
--- /dev/null
+++ b/triball_configuration.cc
@@ -0,0 +1,40 @@
+#include <string.h>
+
+#include "triball.hh"
+#include "gazebo/test/helper_physics_generator.hh"
+#include <ignition/math/Helpers.hh>
+
+
+using namespace gazebo;
+using namespace benchmark;
+
+
+const double slope_min = 0; 
+const double slope_max = IGN_PI/6;
+const double slope_step = IGN_PI/24;
+const float friction_coefficient = 0.9;
+
+// cog height with respect to link frame
+const double cog_h_max = 0.02;
+const double cog_h_min = -0.02;
+const double cog_h_step = 0.01;
+
+INSTANTIATE_TEST_CASE_P(
+    OdeTriball, TriballTest,
+    ::testing::Combine(::testing::Values("ode"), ::testing::Values("pyramid_model"),
+                       ::testing::Values(false), ::testing::Range(slope_min, slope_max, slope_step),
+                       ::testing::Values(friction_coefficient), 
+                       ::testing::Range(cog_h_min, cog_h_max, cog_h_step), ::testing::Values(true)));
+
+// INSTANTIATE_TEST_CASE_P(
+//     BulletTriball, TriballTest,
+//     ::testing::Combine(::testing::Values("bullet"), ::testing::Values("pyramid"),
+//                        ::testing::Values(false), ::testing::Range(slope_min, slope_max, slope_step),
+//                        ::testing::Values(friction_coefficient), 
+//                        ::testing::Range(cog_h_min, cog_h_max, cog_h_step)));
+/////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/triball_description.ipynb b/triball_description.ipynb
new file mode 100644
index 0000000..4526fba
--- /dev/null
+++ b/triball_description.ipynb
@@ -0,0 +1,368 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Triball: a benchmark for rigid bodies in contact.\n",
+    "\n",
+    "This test simulates a rigid body that is in contact with the ground plane and verifies the contact forces experienced at each contact point.\n",
+    "\n",
+    "The model consists of three solid spheres connected by rods in a triangular configuration. This benchmark varies both triball configurations as well as the velocity of the center of mass(com). \n",
+    "The model doesn't consist of any joints.\n",
+    "\n",
+    "Two scenarios have been chosen to validate the simulated solutions and to represent simple and complex scenarios.\n",
+    "\n",
+    "In **simple** scenario the triball model is at rest and no external is applied except \n",
+    "gravitational and contact forces, here the test parameter being the configuration in which balls are arranged (eg: equilateral or isosceles triangle).\n",
+    "The normal/contact force experience at the contact point is a function of triball configuration, which forces can be computed analytically \n",
+    "and can be used to compare against the simulated/ numerical solution.\n",
+    "\n",
+    "In **complex** scenario the triball model has been given a specific initial velocity (both linear and angular). Possible metric for comparision here can be checking if total energy exceeds inital energy at t=0 and difference between friction cone and pyramid model.\n",
+    "\n",
+    "## Simple scenario\n",
+    "\n",
+    "As the rigid body is at rest. The forces experienced by it are a contact forces and gravitational force in the downward direction. In an equilibrium state, any rigid body should have a zero net force and torque about any point.\n",
+    "\n",
+    "![triball_static_case](img/triball/triball_static.jpg)\n",
+    "\n",
+    "## Complex scenario\n",
+    "As the rigid body is given a specific initial velocity, friction forces will be acting in the tangential plane to the normal force at each contact point. Energy conservation, checking frcition force direction and magnitude, and comparing difference in states between cone vs pryramid models can use a possible metrics.\n",
+    "\n",
+    "## Definition of coordinate frames and variable\n",
+    "\n",
+    "![triball_diagram](https://github.com/yaswanth1701/simulation_benchmark/assets/92177410/1b2589e8-efb3-4885-801f-0d9912178565)\n",
+    "\n",
+    "Consider an inertial frame $O$ and a rigid body with a coordinate frame $c$ attached at the center of mass:\n",
+    "\n",
+    "- The position of the center of gravity (cg) in $O$  is given by  **c**.\n",
+    "- The orientation of $c$ with respect to $O$ is given by the quaternion **$q$**.\n",
+    "- A rotation matrix from $O$ to $c$ : $R(q)$ \n",
+    "- Angular velocity in frame $c$ : $\\omega$\n",
+    "- Three contact points for the model are expressed in frame $O$ as $C_a$, $C_b$ and $C_c$.\n",
+    "- The three contact force are denoted as $N_a$, $N_b$ and $N_c$ and are expressed in the $O$ frame\n",
+    "  \n",
+    "Rigid body has the following inertial parameters:\n",
+    "- Total mass *m*\n",
+    "- inertia matrix $I$ expressed in $c$\n",
+    "- Density of model be $\\rho$\n",
+    "- Radius of ball/sphere is denoted as $R_s=0.02$.\n",
+    "- Radius of rod/cylinder is denoted as $R_c=0.005$.\n",
+    "- Mass of each ball and rod is $m_s$ and $m_c$ respectively.\n",
+    "\n",
+    "### Solution for simple scenario:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 59,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "import sympy as sym"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Geometric variables:\n",
+    "\n",
+    "- For simplifying the configuration of balls, we assume the coordinates of\n",
+    "  <br> ball $A$ (shown in the above figure) and the altitude of the triangle \n",
+    "  $AD$ <br> are fixed throughout the test cases.\n",
+    "- The variables are angles $\\angle BAD$ ($\\theta _1$) and $\\angle CAD$ ($\\theta _2$).\n",
+    "- The height of the altitude be $h$ and the length from origin $O$ to point D be $k$.\n",
+    "- Then coordinate of ball $A$ will be $P_a(h - k, 0, 0.02)$\n",
+    "- Coordinates of ball $B$ will be $P_b(-k, h*tan\\theta _1, 0.02)$.\n",
+    "- Coordinates of ball $C$ will be $P_c(-k, -h*tan\\theta _2, 0.02)$.\n",
+    "- Further coordinates of center of mass (com) of each rod is denoted by $P_{ab}$, $P_{bc}$, $P_{ca}$.\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 47,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rho = 200\n",
+    "r_c = 0.005\n",
+    "r_s = 0.02\n",
+    "# total ten pair of angles theta_1 and theta_2\n",
+    "N = 10\n",
+    "\n",
+    "# volume of sphere\n",
+    "v_s = (4*np.pi*r_s**3)/3\n",
+    "m_s = rho*v_s\n",
+    "\n",
+    "#altittude height (m)\n",
+    "h = 0.15\n",
+    "k = 0.05\n",
+    "\n",
+    "theta_1 = np.linspace(np.pi/6, np.pi/2, N, endpoint=False)\n",
+    "theta_2 = np.linspace(np.pi/6, np.pi/3, N)\n",
+    "\n",
+    "# coordinates of ball A\n",
+    "p_a = np.repeat(np.array([[h - k , 0, 0.02]]), N, axis=0)\n",
+    "\n",
+    "# coordinates of ball B \n",
+    "p_b_x = np.ones((N,1)) * -k\n",
+    "p_b_y = h*np.tan(theta_1).reshape(N,1)\n",
+    "p_b_z = np.ones((N,1)) * 0.02\n",
+    "p_b = np.hstack((p_b_x, p_b_y, p_b_z))\n",
+    "\n",
+    "# coordinates of ball C\n",
+    "p_c_x = np.ones((N,1)) * -k\n",
+    "p_c_y = - h*np.tan(theta_2).reshape(N,1)\n",
+    "p_c_z = np.ones((N,1)) * 0.02\n",
+    "p_c = np.hstack((p_c_x, p_c_y, p_c_z))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "As the body is at rest the net force and moment about any point should be zeros. We choose to calculate the net moment about point $P_a$.\n",
+    "\n",
+    "- Force balance gives:\n",
+    "  \n",
+    "   $N_a = [0, 0, n_a]^T, \\text{ } N_b = [0, 0, n_b]^T \\text{ and } N_c = [0, 0, n_c]^T$ \n",
+    "    \n",
+    "   $g = [0, 0, -9.8]^T$ \n",
+    "    \n",
+    "   $F_{net}= ma$\n",
+    "  \n",
+    "   $a = 0$\n",
+    "  \n",
+    "   $N_a + N_b + N_c + g = 0$ -> $n_a + n_b + n_c = 9.8$ ---- $equation1$\n",
+    "   \n",
+    "   $\\tau _a = 0$\n",
+    "  \n",
+    "   $m_c*g \\times (P_{ab} - P_a)$ + $(m_s *g + N_b) \\times (P_b - P_a)$ +\n",
+    "   $m_c *g \\times (P_{bc} - P_a)$ +\n",
+    "\n",
+    "   $(m_s *g + N_c) \\times (P_c - P_a)$ + $m_c *g \\times (P_{ca} - P_a)$ = 0 ----- $equation2 \\text{ and } 3$\n",
+    "   \n",
+    "So, we get a total of three linear equations to solve for $n_a$, $n_b$, and $n_c$."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 48,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def hat(v):\n",
+    "    # hat operator for vector\n",
+    "    v = v.ravel()\n",
+    "    return np.array([[0, v[2], -v[1]],\n",
+    "                     [-v[2], 0, v[0]],\n",
+    "                     [v[1], -v[0], 0]])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 52,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def compute_contact_forces(p_a, p_b, p_c):\n",
+    "    # creating symbolic variables for normal forces\n",
+    "    n_a = sym.symbols(\"n_a\")\n",
+    "    n_b = sym.symbols(\"n_b\")\n",
+    "    n_c = sym.symbols(\"n_c\")\n",
+    "    \n",
+    "    com = (p_a + p_b + p_c)/3\n",
+    "    \n",
+    "    # contact force at each contact point\n",
+    "    N_a = np.array([0, 0, n_a]).reshape(3,1)\n",
+    "    N_b = np.array([0, 0, n_b]).reshape(3,1)\n",
+    "    N_c = np.array([0, 0, n_c]).reshape(3,1)\n",
+    "\n",
+    "    # length of each rod\n",
+    "    l_ab = np.linalg.norm(p_b - p_a)\n",
+    "    l_bc = np.linalg.norm(p_c - p_b)\n",
+    "    l_ca = np.linalg.norm(p_a - p_c)\n",
+    "    \n",
+    "    #mass of each rod\n",
+    "    m_c1 = np.pi*(r_c**2)*l_ab*rho\n",
+    "    m_c2 = np.pi*(r_c**2)*l_bc*rho\n",
+    "    m_c3 = np.pi*(r_c**2)*l_ca*rho\n",
+    "\n",
+    "    # com of rod AB\n",
+    "    p_ab = (p_a + p_b)/2\n",
+    "    \n",
+    "    # com of rod BC\n",
+    "    p_bc = (p_b + p_c)/2\n",
+    "    \n",
+    "    # com of rod CA\n",
+    "    p_ca = (p_c + p_a)/2\n",
+    "    g = np.array([0,0,-9.8]).reshape(3,1)\n",
+    "\n",
+    "    # force balance \n",
+    "    eq_f = N_a + N_b + N_c + (3*m_s + m_c1 + m_c2 + m_c3)*g\n",
+    "\n",
+    "    # z direction force balance\n",
+    "    eq1 = eq_f[2][0]\n",
+    "    \n",
+    "    # moment balance about A\n",
+    "    eq_t = hat(p_ab - p_a) @ (m_c1 * g) + hat(p_b - p_a) @ (m_s * g + N_b) +\\\n",
+    "         hat(p_bc - p_a) @ (m_c2 * g) + hat(p_c - p_a) @ (m_s *g + N_c) +\\\n",
+    "         hat(p_ca - p_a) @ (m_c3 * g)\n",
+    "    \n",
+    "    eq2 = eq_t[0][0]\n",
+    "    eq3 = eq_t[1][0]\n",
+    "\n",
+    "    result = sym.linsolve([eq1, eq2, eq3], (n_a, n_b, n_c))\n",
+    "\n",
+    "    return list(result.args)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 57,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "normal_forces = np.zeros((N,3))\n",
+    "for i in range(N):\n",
+    "    normal_force = compute_contact_forces(p_a[i,:], p_b[i,:], p_c[i,:])\n",
+    "    normal_forces[i, :] = normal_force[0]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 64,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "theta = np.rad2deg(theta_1 + theta_2)\n",
+    "plt.plot(theta, normal_forces, label=[\"n_a\", \"n_b\", \"n_c\"])\n",
+    "plt.legend()\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Solution for complex case scenario\n",
+    "\n",
+    "  <img src=\"img/triball/triball_friction_cone.gif\" width=\"395\" height=\"240\" />\n",
+    "  <img src=\"img/triball/triball_friction_pyramid.gif\" width=\"395\" height=\"240\" />\n",
+    "\n",
+    "\n",
+    "\n",
+    "**First image is friction cone model and second image is friction pyramid model.**\n",
+    "\n",
+    "##### **Energy conservation**\n",
+    "\n",
+    "- Kinetic energy of model: $T(t) = \\frac{1}{2} m \\dot c(t)^T \\dot c(t) + \\frac{1}{2} I \\omega(t)^T \\omega(t)$ \n",
+    "- Potential energy of model: $V(t) = -mg^Tc(t)$\n",
+    "- Total energy of model: $E(t) = T(t) + V(t)$\n",
+    "- Intial totaltotal energy of model: $E(t_0)$\n",
+    "- Total energy of model at time $t>0$ $E(t)$\n",
+    "- As friction force is dissipative force: $E(t_0) > E(t) => E(t_0) - E(t) > 0$\n",
+    "\n",
+    "##### **Friction is dissipative force**\n",
+    "\n",
+    "- Location of any point in $c$ frame: $r_c$.\n",
+    "- Slip velocity of any point on model in $O$ frame: $ \\dot c_p(t) = \\dot c(t) + \\omega(t) \\times r_c$.\n",
+    "- Unit vector along the direction of slip velocity: $ \\hat{\\dot{c_p}}(t) =  \\frac {\\dot c_p(t)}{\\| \\dot c_p(t) \\|}$.\n",
+    "- For contact points $A, B$, and $C$ unit vector along the direction of their velocity: $ \\hat{\\dot{c_a}}, \\hat{\\dot{c_b}}$ and $\\hat{\\dot{c_c}}$.\n",
+    "- Contact forces at contact points in $O$ frame : $f$.\n",
+    "- Unit vector along the contact force in $O$ frame: $\\hat f$.\n",
+    "- As the velocity of ball is in $xy$ plane, the friction forces should opposite in direction to slip velocity: $f \\cdot \\dot c_p <=0$.\n",
+    "\n",
+    "##### **Magnitude of friction force**\n",
+    "- Unit normal at contact point: $\\hat n$\n",
+    "- Contact force along contact normal: $ (f \\cdot \\hat n) \\hat n$\n",
+    "- Unit vector along first friction direction in $c$ frame: $ fdir_1$\n",
+    "- Friction force along first friction direction expressed in $O$ frame: $R^T(q) (\\mu _1 \\| f \\cdot \\hat n \\| * fdir_1)$ \n",
+    "- Unit vector along second friction direction in $c$ frame: $ fdir_2$\n",
+    "- Friction force along second friction direction expressed in $O$ frame: $R^T(q) (\\mu _2 \\| f \\cdot \\hat n \\| * fdir_2)$ \n",
+    "\n",
+    "##### **Friction cone model (fcm) vs pyramid model (fpm) (ODE only)**\n",
+    "\n",
+    "- Difference in cog position in $O$ frame:  $ \\| c_{fcm}(t) - c_{fpm}(t) \\|$\n",
+    "- Difference in cog velocity in $O$ frame: $ \\| \\dot c_{fcm}(t) - \\dot c_{fpm}(t) \\|$\n",
+    "- Difference in cog acceleration in $O$ frame: $ \\| \\ddot c_{fcm}(t) - \\ddot c_{fpm}(t) \\|$"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Inputs, Outputs, and Metrics\n",
+    "\n",
+    "### Inputs\n",
+    "This benchmark generates tests of different parameters based on these inputs:\n",
+    "\n",
+    "Parameter                    | Type    | Description\n",
+    "---------------------------- | ------- | -----------\n",
+    "Physics engine               | string  | `ode`, `bullet`, `simbody`, or `dart`\n",
+    "Face angle                   | double  | units in radians\n",
+    "Friction model               | string  | pyramid or cone (ode only)\n",
+    "Surface slope                | Double  | units of radians\n",
+    "Simple or Complex scenario   | Boolean |\n",
+    "Centre of gravity height     | Double  | unit of meters expressed in link frame\n",
+    "Equal kinetic energies       | Boolean | \n",
+    "\n",
+    "### Metrics\n",
+    "These errors are measured and saved:\n",
+    "\n",
+    "Metric                 | Type     | Description\n",
+    "-----------------------| -------- | -----------\n",
+    "Contact force error     | 3-vector | units of Newton(N)\n",
+    "Friction direction error  | 3-vector |\n",
+    "Fricion magnitude error | 2-vector| units of Newton(N)\n",
+    "Linear velocity error | 3-vector | units of meters / second\n",
+    "position error | 3-vector | units of meters\n",
+    "Energy error           | double   | units of J\n",
+    "\n",
+    "### Additional outputs\n",
+    "In addition, computation time is measured, by saving these quantities as outputs:\n",
+    "\n",
+    "Metric                 | Type   | Description\n",
+    "-----------------------| ------ | -----------\n",
+    "Duration in wall time  | double | units of seconds\n",
+    "Duration in sim time   | double | units of seconds\n",
+    "Duration ratio         | double | wall duration divided by sim duration"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/triball_post_processing.py b/triball_post_processing.py
new file mode 100644
index 0000000..64c8197
--- /dev/null
+++ b/triball_post_processing.py
@@ -0,0 +1,358 @@
+import sys
+import os 
+import pandas as pd
+import time
+import numpy as np
+from gz.math7 import Quaterniond, Vector3d
+import matplotlib.pyplot as plt
+import csv
+import time
+import sympy as sym
+
+SOURCE_FOLDER = os.path.dirname(os.path.abspath(__file__))
+
+# BENCHMARK_NAME = sys.argv[1]
+BENCHMARK_NAME = "BENCHMARK_triball_configuration"
+
+MODEL_NAME = ['30', '45', '60', '75', '90']
+
+I_30 = [[8.4732487219449371e-05, -1.3552527156068805e-20, 2.5214795814616026e-21],
+        [-1.3552527156068805e-20, 0.00035705300836722431, 4.4766275773390029e-22],
+        [2.5214795814616026e-21, 4.4766275773390029e-22, 0.00043190422402162329]]
+
+I_45 = [[0.00019232606045470671, 1.3552527156068805e-20, 1.2627017167609311e-20],
+        [1.3552527156068805e-20, 0.00036422223881746503, 1.6650309163384415e-21],
+        [1.2627017167609311e-20, 1.6650309163384415e-21, 0.0005466328545714452]]
+
+I_60 = [[0.000311243867376448, 0, 0],
+        [0, 0.000311243867376448, 0],
+        [0, 0, 0.0006128367621210681]]
+
+I_75 = [[0.00066921849216050014, 2.7105054312137611e-20, -3.3685125287159029e-21],
+        [2.7105054312137611e-20, 0.00038309493110161302, 1.0621606046267175e-20],
+        [-3.3685125287159029e-21, 1.0621606046267175e-20, 0.0010423041088969216]]
+
+I_90 = [[0.0011706814995045239, 2.7105054312137611e-20, -3.3881317890172014e-21],
+        [2.7105054312137611e-20, 0.00039647954261617555, 2.3523493101256951e-20],
+        [-3.3881317890172014e-21, 2.3523493101256951e-20, 0.0015570834427368358]]
+
+class postProcessing:
+
+    def __init__(self, test_name):
+
+        self.m = {'30': 0.078742493606727915,'45': 0.081476344460819278,
+                  '60': 0.060318578948924034, '75': 0.088985917618018107, 
+                  '90': 0.094448719111790758}
+        
+        self.I = {'30': np.array(I_30), '45': np.array(I_45), 
+                  '60': np.array(I_60), '75': np.array(I_75),
+                  '90': np.array(I_90)}
+
+        timestr = time.strftime("%Y%m%d-%H%M%S")
+        metrics_filename = test_name + "_" + timestr + ".csv"
+        self.metrics_path = os.path.join(SOURCE_FOLDER, "test_results", metrics_filename)
+        print(f"metrics path is {self.metrics_path}")
+
+        self.csv_file = open(self.metrics_path, mode='w', newline='')
+        self.csv_writer = csv.writer(self.csv_file)
+
+        metrics = ["energy0", "energyErr_maxabs", "contactForceErr_a_maxAbs", "contactForceErr_b_maxAbs",
+                   "contactForceErr_c_maxAbs", "frictionForceMagErr_a_maxAbs", "frictionForceMagErr_b_maxAbs",
+                   "frictionForceMagErr_c_maxAbs", "frictionForceDirErr_a_maxAbs", "frictionForceDirErr_b_maxAbs",
+                   "frictionForceDirErr_c_maxAbs", "face_angle", "dt", "engine", "friction_coefficient", "friction_model", 
+                   "cog_h", "surface_slope", "isComplex", "modelCount", "simTime", "time", "timeRatio", "classname"]
+        self.csv_writer.writerow(metrics)
+
+    def read_file(self,file_path: str):
+        benchmark_config = pd.read_csv(file_path, nrows=1).to_numpy()
+        states = pd.read_csv(file_path,skiprows=2).to_numpy()
+        return benchmark_config, states
+
+    def get_file_names(self):
+        '''Method to obtain the file names and file paths of benchmark result'''
+        result_dir = os.path.join(SOURCE_FOLDER, "test_results", BENCHMARK_NAME, "CSV")
+        file_names = os.listdir(result_dir) 
+        return result_dir, file_names
+    
+    def set_test_parameters(self,physic_engine, dt, friction_model, 
+                            complex, slope, friction_coefficient,
+                            cog_height, equal_KE, wall_time):
+        self.physics_engine = physic_engine
+        self.dt = dt
+        self.fricition_model = friction_model
+        self.complex = complex
+        self.surface_slope = slope
+        self.mu = friction_coefficient
+        self.cog_height = cog_height
+        self.equal_ke = equal_KE
+        self.computation_time = wall_time
+
+        if complex:
+            self.class_name = "static"
+        else:
+            self.class_name = "sliding"
+    
+    def hat(self, v):
+        # hat operator for vector
+        v = v.ravel()
+        return np.array([[0, v[2], -v[1]],
+                         [-v[2], 0, v[0]],
+                         [v[1], -v[0], 0]])
+
+    def compute_pos_mass(self, face_angle: str):
+        h = 0.15
+        k = 0.05
+        rho = 600
+        r_c = 0.005
+        r_s = 0.02
+
+        initial_com = {'30': 0, '45': 1, '60': 2, '75':3, '90':4}
+        angle = np.deg2rad(int(face_angle))/2
+
+        ## centre of gravity location of ball and rod
+        self.ball_pos = {'a': np.array([[h - k , initial_com[face_angle], 0.02]]),
+                    'b': np.array([[- k , h*np.tan(angle) + initial_com[face_angle], 0.02]]),
+                    'c': np.array([[- k , - h*np.tan(angle) + initial_com[face_angle], 0.02]])}
+        
+        v_s = (4*np.pi*r_s**3)/3
+        self.m_s = rho*v_s
+        
+        self.rod_pos = {'ab': (self.ball_pos['a'] + self.ball_pos['b'])/2,
+                   'bc': (self.ball_pos['b'] + self.ball_pos['c'])/2, 
+                   'ca': (self.ball_pos['c'] + self.ball_pos['a'])/2}
+        
+        self.l_ab = np.linalg.norm(self.ball_pos['b'] - self.ball_pos['a'])
+        self.l_bc = np.linalg.norm(self.ball_pos['c'] - self.ball_pos['b'])
+        self.l_ca = np.linalg.norm(self.ball_pos['a'] - self.ball_pos['c'])
+        
+        self.m_r1 = np.pi*(r_c**2)*self.l_ab*rho
+        self.m_r2 = np.pi*(r_c**2)*self.l_bc*rho
+        self.m_r3 = np.pi*(r_c**2)*self.l_ca*rho
+
+    def compute_normal_force(self):
+        slope = self.surface_slope
+
+        n_a = sym.symbols("n_a")
+        n_b = sym.symbols("n_b")
+        n_c = sym.symbols("n_c")
+
+        F_a = np.array([0, 0, n_a]).reshape(3,1)
+        F_b = np.array([0, 0, n_b]).reshape(3,1)
+        F_c = np.array([0, 0, n_c]).reshape(3,1)
+    
+        g = np.array([-np.sin(slope)*9.8,0,-np.cos(slope)*9.8]).reshape(3,1)
+
+
+        eq_f = F_a + F_b + F_c + (3*self.m_s + self.m_r1 + self.m_r2 + self.m_r3)*g
+
+        eq1 = eq_f[2][0]
+        
+        p_a = self.ball_pos['a']
+        p_b = self.ball_pos['b']
+        p_c = self.ball_pos['c']
+
+        p_ab = self.rod_pos['ab']
+        p_bc = self.rod_pos['bc']
+        p_ca = self.rod_pos['ca']
+    
+        # moment balance about A
+        eq_t1 = self.hat(p_ab - p_a) @ (self.m_r1 * g) + self.hat(p_b - p_a) @ (self.m_s * g + F_b) +\
+                self.hat(p_bc - p_a) @ (self.m_r2 * g) + self.hat(p_c - p_a) @ (self.m_s *g + F_c) +\
+                self.hat(p_ca - p_a) @ (self.m_r3 * g)
+              
+        eq2 = eq_t1[0][0]
+        eq3 = eq_t1[1][0]
+
+        result = sym.linsolve([eq1, eq2, eq3], (n_a, n_b, n_c))
+        return  list(result.args)
+    
+    def compute_slip_vel(self, com_vel: np.ndarray,
+                         ang_vel: np.ndarray, r: np.ndarray):
+        return com_vel + self.hat(r) @ ang_vel
+    
+    def compute_normal_force_error(self, force1, force2, force3):
+        contact_forces = self.compute_normal_force()
+        contact_forces = np.array(contact_forces).reshape(3,1)
+        normal_force_error = np.zeros(3)
+        normal_force_error[0] = abs(contact_forces[0][0] - force1)
+        normal_force_error[1] = abs(contact_forces[1][0] - force2)
+        normal_force_error[2] = abs(contact_forces[2][0] - force3)
+        return normal_force_error
+    
+    def compute_friction_force_error(self, contact_info,
+                                     v, omega, pos):
+        normal = contact_info[4:7]
+        force = contact_info[7:10]
+        
+        ## contact force along normal (contact_force.normal)
+        force_n = np.dot(force, normal)
+        r_ac = contact_info[1:4] - pos
+        slip_vel = self.compute_slip_vel(v, omega, r_ac)
+        ## analytical solution
+        friction_force_a  = self.mu * force_n * (slip_vel/np.linalg.norm(slip_vel))
+        ## numerical solution
+        friciton_force_n = contact_info[7:9]
+        F_mag_error = np.linalg.norm(friciton_force_n[:2] - friction_force_a)
+        F_dir_error = np.dot(v, friciton_force_n)
+
+        return F_mag_error, F_dir_error
+    
+    def calculate_mertics(self, states: np.ndarray,
+                          face_angle: str):
+        sim_time = states[:, 0]
+        linear_accel = states[:, 2:5]
+        angular_accel = states[:, 5:8]
+        v = states[:, 8:11]
+        omega = states[:, 11:14]
+        pos = states[:, 14:17]  
+        rot = states[:, 17:21]
+        contact1_info = states[:, 21:34]      
+        contact2_info = states[:, 34:47]
+        contact3_info = states[:, 47:]
+        slope = self.surface_slope
+
+        g = np.array([-np.sin(slope)*9.8,0,-np.cos(slope)*9.8])
+        self.N = len(sim_time)
+        E = np.zeros(self.N)
+        self.F_mag_error = np.zeros((self.N,3))
+        self.F_dir_error = np.zeros((self.N,3))
+        self.normal_force_error = np.zeros((self.N, 3))
+        
+        for i in range(self.N):
+            # angular velocity in body frame
+            omega_w = omega[i].tolist()
+            quat = rot[i].tolist()
+            quat = Quaterniond(quat[0], quat[1], quat[2], quat[3])
+            omega_b = quat.rotate_vector_reverse(Vector3d(omega_w[0], 
+                                                 omega_w[1], omega_w[2]))
+            omega_b = np.array([omega_b[0], omega_b[1], omega_b[2]])
+
+            # translation energy + rotational energy + potential energy
+            tran_E = 0.5*self.m[face_angle]*v[i].dot(v[i])
+            rot_E = 0.5*omega_b.dot(self.I[face_angle].dot(omega_b))
+            V = - self.m[face_angle]*g.dot(pos[i])
+            E[i] = tran_E + rot_E + V
+
+            if self.complex:
+                F_mag_error, F_dir_error = self.compute_friction_force_error(
+                                                contact1_info[i], v[i], omega_b, 
+                                                pos[i])
+                self.F_mag_error[i, 0] = F_mag_error
+                self.F_dir_error[i, 0] = F_dir_error
+    
+                F_mag_error, F_dir_error = self.compute_friction_force_error(
+                                                contact2_info[i], v[i], omega_b, 
+                                                pos[i])
+                self.F_mag_error[i, 1] = F_mag_error
+                self.F_dir_error[i, 1] = F_dir_error
+    
+                F_mag_error, F_dir_error = self.compute_friction_force_error(
+                                                contact3_info[i], v[i], omega_b, 
+                                                pos[i])
+                self.F_mag_error[i, 2] = F_mag_error
+                self.F_dir_error[i, 2] = F_dir_error
+            else:
+                self.compute_pos_mass(face_angle)
+                normal_forces_error = self.compute_normal_force_error(
+                                            contact1_info[i, 9], contact2_info[i, 9], contact3_info[i, 9])
+                
+                self.normal_force_error[i] = normal_forces_error
+
+        self.initial_energy = E[0]
+
+        self.E_error = E - self.initial_energy
+        self.sim_time = sim_time[-1]
+
+        self.time_ratio = self.computation_time/self.sim_time
+        
+
+    def get_maxabs_error(self):
+        self.E_error = self.E_error[self.E_error>0]
+
+        if (len(self.E_error)!=0):
+            self.E_maxabs_error = np.max(self.E_error)
+        else:
+            self.E_maxabs_error = 0
+
+        self.F_maxabs_dir_error = [0, 0, 0]
+        self.F_maxabs_mag_error = [0, 0, 0]
+        self.N_maxabs_error = [0, 0, 0]
+
+
+        if self.complex:
+            self.F_dir_error = self.F_dir_error[self.F_dir_error>0]
+            self.F_maxabs_dir_error[0] = np.max(self.F_dir_error[:, 0])
+            self.F_maxabs_dir_error[1] = np.max(self.F_dir_error[:, 1])
+            self.F_maxabs_dir_error[2] = np.max(self.F_dir_error[:, 2])
+            self.F_maxabs_mag_error[0] = np.max(self.F_mag_error[:, 0])
+            self.F_maxabs_mag_error[1] = np.max(self.F_mag_error[:, 1])
+            self.F_maxabs_mag_error[2] = np.max(self.F_mag_error[:, 2])
+        else:
+            self.N_maxabs_error[0] = np.max(self.normal_force_error[:, 0])
+            self.N_maxabs_error[1] = np.max(self.normal_force_error[:, 1])
+            self.N_maxabs_error[2] = np.max(self.normal_force_error[:, 2])
+
+    def save_metrics(self, face_angle, model_count):
+        if complex:
+            class_name = "sliding"
+        else:
+            class_name = "static"
+
+        self.csv_writer.writerow([self.initial_energy, self.E_maxabs_error, self.N_maxabs_error[0],
+                                  self.N_maxabs_error[1], self.N_maxabs_error[2], self.F_maxabs_mag_error[0], 
+                                  self.F_maxabs_mag_error[1], self.F_maxabs_mag_error[2], self.F_maxabs_dir_error[0],
+                                  self.F_maxabs_dir_error[1], self.F_maxabs_dir_error[2], face_angle, self.dt, 
+                                  self.physics_engine, self.mu, self.fricition_model, self.cog_height, self.surface_slope,
+                                  self.complex, model_count, self.sim_time, self.computation_time, self.time_ratio,
+                                  class_name])
+
+        
+if __name__ == "__main__":
+    dir = BENCHMARK_NAME
+    print(f"BENCHMARK: {dir}")
+
+    post_processing = postProcessing(dir)
+    result_dir , file_names = post_processing.get_file_names()
+    file_names = sorted(file_names, reverse=True)
+
+    for file in file_names:
+        print(f"TEST: {file}")
+        file_path = os.path.join(result_dir,file)
+        config, states = post_processing.read_file(file_path)
+        physic_engine = config[0,0]
+        dt = config[0,1]
+        complex = bool(config[0,2])
+        slope = config[0,3]
+        friction_coefficient = config[0,4]
+        friction_model = config[0,5]
+        cog_height = config[0,6]
+        wall_time = config[0, 7]
+        equal_KE = config[0, 8]
+
+        if complex:
+            no_of_models = 19
+        else:
+            no_of_models = 5
+            
+        print(f" Physics engines: {physic_engine} \n Timestep: {dt} \n Complex: {complex} \n Number of models: {no_of_models}")
+        post_processing.set_test_parameters(physic_engine, dt, friction_model, complex, slope, friction_coefficient,
+                                            cog_height, equal_KE, wall_time)
+
+        states_per_model = int(len(states[:,0])/no_of_models)
+        states = states.reshape(no_of_models, states_per_model,-1)
+
+        for i in range(no_of_models):
+            print(f" => Model number: {i+1}")
+            model_states = states[i]
+
+            if complex:
+                face_angle = '45'
+            else:
+                face_angle = MODEL_NAME[i]
+               
+
+            post_processing.calculate_mertics(model_states, face_angle)
+            post_processing.get_maxabs_error()
+            post_processing.save_metrics(face_angle, no_of_models)
+    
+    post_processing.csv_file.close()
\ No newline at end of file
diff --git a/triball_sliding.cc b/triball_sliding.cc
new file mode 100644
index 0000000..49774ee
--- /dev/null
+++ b/triball_sliding.cc
@@ -0,0 +1,42 @@
+#include <string.h>
+
+#include "triball.hh"
+#include "gazebo/test/helper_physics_generator.hh"
+#include <ignition/math/Helpers.hh>
+
+using namespace gazebo;
+using namespace benchmark;
+
+
+const float friction_coefficient = 0.9;
+
+// cog height with respect to link frame
+const double cog_h_max = 0.02;
+const double cog_h_min = -0.02;
+const double cog_h_step = 0.01;
+
+INSTANTIATE_TEST_CASE_P(
+    OdeTriballPyramidModel, TriballTest,
+    ::testing::Combine(::testing::Values("ode"), ::testing::Values("pyramid_model"),
+                       ::testing::Values(true), ::testing::Values(0.0),
+                       ::testing::Values(friction_coefficient), 
+                       ::testing::Range(cog_h_min, cog_h_max, cog_h_step), ::testing::Bool()));
+INSTANTIATE_TEST_CASE_P(
+    OdeTriballConeModel, TriballTest,
+    ::testing::Combine(::testing::Values("ode"), ::testing::Values("cone_model"),
+                       ::testing::Values(true), ::testing::Values(0.0),
+                       ::testing::Values(friction_coefficient), 
+                       ::testing::Range(cog_h_min, cog_h_max, cog_h_step), ::testing::Bool()));
+
+// INSTANTIATE_TEST_CASE_P(
+//     BulletTriball, TriballTest,
+//     ::testing::Combine(::testing::Values("bullet"), ::testing::Values("pyramid"),
+//                        ::testing::Values(false), ::testing::Range(slope_min, slope_max, slope_step),
+//                        ::testing::Values(friction_coefficient), 
+//                        ::testing::Range(cog_h_min, cog_h_max, cog_h_step)));
+/////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/worlds/triball.world.erb b/worlds/triball.world.erb
index 36aa45a..c7b087e 100644
--- a/worlds/triball.world.erb
+++ b/worlds/triball.world.erb
@@ -1,46 +1,1338 @@
 <?xml version="1.0" ?>
+
 <%
-  # Triball benchmark example world
-  # SI units (length in meters)
+  # default values
+  unless defined?(frictionModel)
+    frictionModel = "pyramid"  
+  end
+
+  unless defined?(fixed_configuration)
+    fixed_configuration = 0
+  end
+
+  unless defined?(surfaceSlope)
+    surfaceSlope = 0
+  end
+
+  unless defined?(frictionCoefficient)
+    frictionCoefficient = 0.9
+  end
+
   require "matrix"
 
   v0 = [0, 15, 0]
   N = 16
   w0max = 150.0
   w0mags = w0max * Vector.elements((-N..N).to_a) / N.to_f
+
+  gravity = [-9.8*Math::sin(surfaceSlope), 0, -9.8*Math::cos(surfaceSlope)]
+ 
 %>
-<sdf version="1.5">
+
+<sdf version="1.6">
   <world name="default">
+    <gravity><%= gravity.join(" ") %></gravity>
+
     <include>
       <uri>model://ground_plane</uri>
     </include>
+
     <include>
       <uri>model://sun</uri>
     </include>
+
+<% 
+  if fixed_configuration == 0
+%> 
+    
+
+    <model name="triball_30">
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial auto="true">
+           <density>600</density>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+    
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.0200961894323342 0.0  -1.5707963267948961 -1.3089969389957472 1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu> <%= frictionCoefficient %> </mu>
+              <mu2> <%= frictionCoefficient %> </mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.0200961894323342 0.0  -1.5707963267948961 -1.3089969389957472 1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.0200961894323342 0.0  1.5707963267948961 -1.3089969389957472 -1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.0200961894323342 0.0  1.5707963267948961 -1.3089969389957472 -1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %>/mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.0803847577293368</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.0803847577293368</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+     </link>
+    </model>
+
+    <model name="triball_45">
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial auto="true">
+           <density>600</density>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.031066017177982127 0.0  -1.5707963267948961 -1.1780972450961724 1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.031066017177982127 0.0  -1.5707963267948961 -1.1780972450961724 1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.031066017177982127 0.0  1.5707963267948961 -1.1780972450961724 -1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.031066017177982127 0.0  1.5707963267948961 -1.1780972450961724 -1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.12426406871192851</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.12426406871192851</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+    
+    <model name="triball_60">
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial>
+        <pose>0.0 0.0 0  0 0 0</pose>
+        <mass>0.060318578948924034</mass>
+        <inertia>
+          <ixx>0.000311243867376448</ixx>
+          <iyy>0.000311243867376448</iyy>
+          <izz>0.0006128367621210681</izz>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+        </inertia>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
+    <model name="triball_75">
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial auto="true">
+           <density>600</density>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.057549524098422025 0.0  -1.5707963267948963 -0.9162978572970228 0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.057549524098422025 0.0  -1.5707963267948963 -0.9162978572970228 0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.057549524098422025 0.0  1.5707963267948963 -0.9162978572970228 -0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.057549524098422025 0.0  1.5707963267948963 -0.9162978572970228 -0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.2301980963936881</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.2301980963936881</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
+    <model name="triball_90">
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial auto="true">
+           <density>600</density>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.07499999999999998 0.0  -1.5707963267948963 -0.7853981633974484 0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.07499999999999998 0.0  -1.5707963267948963 -0.7853981633974484 0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.07499999999999998 0.0  1.5707963267948963 -0.7853981633974484 -0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.07499999999999998 0.0  1.5707963267948963 -0.7853981633974484 -0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.29999999999999993</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.29999999999999993</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
 <%
-  w0mags.to_a.each_index do |i|
-    name = "triball_" + i.to_s
-    w0 = [0, 0, w0mags[i]]
-    x0 = 0.3 * i
+  else 
+    w0mags.to_a.each_index do |i|
+      name = "triball_" + i.to_s
+      w0 = [0, 0, w0mags[i]]
+      x0 = 0.3 * i
 %>
+
     <model name="<%= name %>">
-      <include>
-        <uri>model://triball</uri>
-        <pose><%= x0 %> 0 0  0 0 0</pose>
-      </include>
-      <plugin name="<%= name %>" filename="libInitialVelocityPlugin.so">
-        <linear><%= v0.join(" ") %></linear>
-        <angular><%= w0.join(" ") %></angular>
+     <link name="link">
+     <pose>0 0 0.02  0 0 0</pose>
+     <inertial>
+       <pose>0.0 0.0 0  0 0 0</pose>
+       <mass>0.060318578948924034</mass>
+       <inertia>
+         <ixx>0.000311243867376448</ixx>
+         <iyy>0.000311243867376448</iyy>
+         <izz>0.0006128367621210681</izz>
+         <ixy>0.0</ixy>
+         <ixz>0.0</ixz>
+         <iyz>0.0</iyz>
+       </inertia>
+     </inertial>
+     <sensor name="imu" type="imu">
+       <always_on>true</always_on>
+     </sensor>
+    
+     <collision name="collision_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     </link>
+     <plugin name="<%= name %>" filename="libInitialVelocityPlugin.so">
+        <linear> <%= v0.join(" ") %> </linear>
+        <angular> <%= w0.join(" ") %> </angular>
       </plugin>
     </model>
-<%
+
+<% 
+    end
   end
 %>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>8.5 5.5 0.3  0 0 3.14159</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-    </gui>
+   <gui fullscreen='0'>
+     <camera name='user_camera'>
+       <pose>1.5 -4 2.5  0 0.5 1.6</pose>
+       <view_controller>orbit</view_controller>
+     </camera>
+   </gui>
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/worlds/triball_contact.world b/worlds/triball_contact.world
new file mode 100644
index 0000000..12d40f8
--- /dev/null
+++ b/worlds/triball_contact.world
@@ -0,0 +1,7427 @@
+<?xml version="1.0" ?>
+
+
+
+<sdf version="1.6">
+  <world name="default">
+    
+    <gravity>-0.0 0 -9.8</gravity>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <physics type="ignored">
+      <ode>
+        <solver>
+          <friction_model>cone_model</friction_model>
+        </solver>
+      </ode>
+    </physics>
+
+
+
+    <model name="triball_0">
+     <pose> 0.0 0 0 0 0 0 </pose>
+     <link name="link">
+     <pose>0 0 0.02 0 0 0</pose>
+     <inertial>
+       <pose>0.0 0.0 0 0 0 0</pose>
+       <mass>0.060318578948924034</mass>
+       <inertia>
+         <ixx>0.000311243867376448</ixx>
+         <iyy>0.000311243867376448</iyy>
+         <izz>0.0006128367621210681</izz>
+         <ixy>0.0</ixy>
+         <ixz>0.0</ixz>
+         <iyz>0.0</iyz>
+       </inertia>
+     </inertial>
+     <sensor name="imu" type="imu">
+       <always_on>true</always_on>
+     </sensor>
+    
+     <collision name="collision_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
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+       </material>
+     </visual>
+    
+     <collision name="collision_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     </link>
+     <plugin name="triball_30" filename="libInitialVelocityPlugin.so">
+        <linear> 0 15 0 </linear>
+        <angular> 0 0 131.25 </angular>
+      </plugin>
+    </model>
+
+
+
+    <model name="triball_31">
+     <pose> 9.299999999999999 0 0 0 0 0 </pose>
+     <link name="link">
+     <pose>0 0 0.02 0 0 0</pose>
+     <inertial>
+       <pose>0.0 0.0 0 0 0 0</pose>
+       <mass>0.060318578948924034</mass>
+       <inertia>
+         <ixx>0.000311243867376448</ixx>
+         <iyy>0.000311243867376448</iyy>
+         <izz>0.0006128367621210681</izz>
+         <ixy>0.0</ixy>
+         <ixz>0.0</ixz>
+         <iyz>0.0</iyz>
+       </inertia>
+     </inertial>
+     <sensor name="imu" type="imu">
+       <always_on>true</always_on>
+     </sensor>
+    
+     <collision name="collision_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     </link>
+     <plugin name="triball_31" filename="libInitialVelocityPlugin.so">
+        <linear> 0 15 0 </linear>
+        <angular> 0 0 140.625 </angular>
+      </plugin>
+    </model>
+
+
+
+    <model name="triball_32">
+     <pose> 9.6 0 0 0 0 0 </pose>
+     <link name="link">
+     <pose>0 0 0.02 0 0 0</pose>
+     <inertial>
+       <pose>0.0 0.0 0 0 0 0</pose>
+       <mass>0.060318578948924034</mass>
+       <inertia>
+         <ixx>0.000311243867376448</ixx>
+         <iyy>0.000311243867376448</iyy>
+         <izz>0.0006128367621210681</izz>
+         <ixy>0.0</ixy>
+         <ixz>0.0</ixz>
+         <iyz>0.0</iyz>
+       </inertia>
+     </inertial>
+     <sensor name="imu" type="imu">
+       <always_on>true</always_on>
+     </sensor>
+    
+     <collision name="collision_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu>0.9</mu>
+             <mu2>0.9</mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     </link>
+     <plugin name="triball_32" filename="libInitialVelocityPlugin.so">
+        <linear> 0 15 0 </linear>
+        <angular> 0 0 150.0 </angular>
+      </plugin>
+    </model>
+
+
+   <gui fullscreen='0'>
+     <camera name='user_camera'>
+       <pose>1.5 -4 2.5  0 0.5 1.6</pose>
+       <view_controller>orbit</view_controller>
+     </camera>
+   </gui>
+  </world>
+</sdf>
+
diff --git a/worlds/triball_contact.world.erb b/worlds/triball_contact.world.erb
new file mode 100644
index 0000000..496a1e6
--- /dev/null
+++ b/worlds/triball_contact.world.erb
@@ -0,0 +1,1436 @@
+<?xml version="1.0" ?>
+
+<%
+  # default values
+  unless defined?(frictionModel)
+    frictionModel = "pyramid_model"  
+  end
+
+  unless defined?(complex)
+    complex = 1
+  end
+
+  unless defined?(surfaceSlope)
+    surfaceSlope = 0
+  end
+
+  unless defined?(frictionCoefficient)
+    frictionCoefficient = 0.9
+  end
+
+  unless defined?(cogH)
+    cogH = 0
+  end
+
+  unless defined?(equalKE)
+    equalKE = 0
+  end
+
+  def get_velocities(energy)
+    linear_vel = []
+    angular_vel = []
+    mass = 0.060318578948924034
+    izz = 0.0006128367621210681
+    for i in 1..10
+      v = Math.sqrt(i * 2 * energy / (mass*10))
+
+      linear_vel.insert(i -1, v)
+      
+      w = Math.sqrt((10 - i) * 2 * energy / (izz*10))
+      angular_vel.insert(i -1, w)
+    
+      if i !=10
+        linear_vel.insert(i - 1, v)
+        w = - w
+        angular_vel.insert(i - 1, w)
+      end
+    end
+    [linear_vel, angular_vel]
+  end 
+
+  require "matrix"
+
+  v0 = [0, 15, 0] # linear velocity along y axis
+  N = 9
+  w0max = 150.0
+  w0mags = w0max * Vector.elements((-N..N).to_a) / N.to_f # angular velocity along z axis 
+
+  mass = 0.060318578948924034
+  Izz = 0.0006128367621210681
+  initial_energy = 0.5 * mass * v0.map {|x| x*x }.sum
+  if equalKE.to_i == 1
+    v, w0mags = get_velocities(initial_energy)
+  end
+
+  
+  gravity = [-9.8*Math::sin(surfaceSlope.to_f), 0, -9.8*Math::cos(surfaceSlope.to_f)]
+
+%>
+
+<sdf version="1.6">
+  <world name="default">
+    
+    <gravity><%= gravity.join(" ") %></gravity>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <physics type="ignored">
+      <ode>
+        <solver>
+          <friction_model><%= frictionModel %></friction_model>
+        </solver>
+      </ode>
+    </physics>
+
+<% 
+  if complex.to_i == 0
+%> 
+    
+
+    <model name="triball_30">
+     <pose> 0 0 0 0 0 0 </pose>
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial>
+          <pose>0.0022414159556670668 0 <%= cogH %> 0 0 0</pose>
+          <mass>0.078742493606727915</mass>
+          <inertia>
+            <ixx>8.4732487219449371e-05</ixx>
+            <ixy>-1.3552527156068805e-20</ixy>
+            <ixz>2.5214795814616026e-21</ixz>
+            <iyy>0.00035705300836722431</iyy>
+            <iyz>4.4766275773390029e-22</iyz>
+            <izz>0.00043190422402162329</izz>
+          </inertia>
+      </inertial>
+
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+    
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.0200961894323342 0.0  -1.5707963267948961 -1.3089969389957472 1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu> <%= frictionCoefficient %> </mu>
+              <mu2> <%= frictionCoefficient %> </mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.0200961894323342 0.0  -1.5707963267948961 -1.3089969389957472 1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.0200961894323342 0.0  1.5707963267948961 -1.3089969389957472 -1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.0200961894323342 0.0  1.5707963267948961 -1.3089969389957472 -1.3089969389957468</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.15529142706151244</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.0803847577293368</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.0803847577293368</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.0401923788646684 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+    
+     </link>
+    </model>
+
+    <model name="triball_45">
+     <pose> 0 1 0 0 0 0 </pose>
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial>
+          <pose>0.0011016530914522173 0 <%= cogH %> 0 0 0</pose>
+          <mass>0.081476344460819278</mass>
+          <inertia>
+            <ixx>0.00019232606045470671</ixx>
+            <ixy>1.3552527156068805e-20</ixy>
+            <ixz>1.2627017167609311e-20</ixz>
+            <iyy>0.00036422223881746503</iyy>
+            <iyz>1.6650309163384415e-21</iyz>
+            <izz>0.0005466328545714452</izz>
+          </inertia>
+      </inertial>
+
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.031066017177982127 0.0  -1.5707963267948961 -1.1780972450961724 1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.031066017177982127 0.0  -1.5707963267948961 -1.1780972450961724 1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.031066017177982127 0.0  1.5707963267948961 -1.1780972450961724 -1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.031066017177982127 0.0  1.5707963267948961 -1.1780972450961724 -1.1780972450961718</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.1623588300438591</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.12426406871192851</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.12426406871192851</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.062132034355964254 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+    
+    <model name="triball_60">
+     <link name="link">
+      <pose>0 2 0.02  0 0 0</pose>
+      <inertial>
+        <pose>0.0 0.0 <%= cogH %>  0 0 0</pose>
+        <mass>0.060318578948924034</mass>
+        <inertia>
+          <ixx>0.000311243867376448</ixx>
+          <iyy>0.000311243867376448</iyy>
+          <izz>0.0006128367621210681</izz>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+        </inertia>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17320508075688773</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
+    <model name="triball_75">
+     <pose> 0 3 0 0 0 0 </pose>
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial>
+          <pose>-0.0010889786320120855 0 <%= cogH %> 0 0 0</pose>
+          <mass>0.088985917618018107</mass>
+          <inertia>
+            <ixx>0.00066921849216050014</ixx>
+            <ixy>2.7105054312137611e-20</ixy>
+            <ixz>-3.3685125287159029e-21</ixz>
+            <iyy>0.00038309493110161302</iyy>
+            <iyz>1.0621606046267175e-20</iyz>
+            <izz>0.0010423041088969216</izz>
+          </inertia>
+      </inertial>
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.057549524098422025 0.0  -1.5707963267948963 -0.9162978572970228 0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.057549524098422025 0.0  -1.5707963267948963 -0.9162978572970228 0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.057549524098422025 0.0  1.5707963267948963 -0.9162978572970228 -0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.057549524098422025 0.0  1.5707963267948963 -0.9162978572970228 -0.9162978572970227</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.18907086210153967</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.2301980963936881</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.2301980963936881</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.11509904819684405 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
+    <model name="triball_90">
+     <pose> 0 4 0 0 0 0 </pose>
+     <link name="link">
+      <pose>0 0 0.02  0 0 0</pose>
+      <inertial>
+          <pose>-0.0021920256670695452 0 <%= cogH %> 0 0 0</pose>
+          <mass>0.094448719111790758</mass>
+          <inertia>
+            <ixx>0.0011706814995045239</ixx>
+            <ixy>2.7105054312137611e-20</ixy>
+            <ixz>-3.3881317890172014e-21</ixz>
+            <iyy>0.00039647954261617555</iyy>
+            <iyz>2.3523493101256951e-20</iyz>
+            <izz>0.0015570834427368358</izz>
+          </inertia>
+      </inertial>
+
+      <sensor name="imu" type="imu">
+        <always_on>true</always_on>
+      </sensor>
+
+      <collision name="collision_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a">
+        <pose>0.09999999999999999 0 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_b">
+        <pose>0.024999999999999998 0.07499999999999998 0.0  -1.5707963267948963 -0.7853981633974484 0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_b">
+        <pose>0.024999999999999998 0.07499999999999998 0.0  -1.5707963267948963 -0.7853981633974484 0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_a_to_c">
+        <pose>0.024999999999999998 -0.07499999999999998 0.0  1.5707963267948963 -0.7853981633974484 -0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_a_to_c">
+        <pose>0.024999999999999998 -0.07499999999999998 0.0  1.5707963267948963 -0.7853981633974484 -0.7853981633974483</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.21213203435596423</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b">
+        <pose>-0.049999999999999996 0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b">
+        <pose>-0.049999999999999996 0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.29999999999999993</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_b_to_c">
+        <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.29999999999999993</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_c">
+        <pose>-0.049999999999999996 -0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu><%= frictionCoefficient %></mu>
+              <mu2><%= frictionCoefficient %></mu2>
+              <fdir1>1 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual_c">
+        <pose>-0.049999999999999996 -0.14999999999999997 0  0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.02</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+
+     </link>
+    </model>
+
+<%
+  else 
+    w0mags.to_a.each_index do |i|
+      name = "triball_" + i.to_s
+      if equalKE.to_i == 1
+        v0 = [0, v[i], 0]
+        w0 = [0, 0, w0mags[i]]
+      else
+        w0 = [0, 0, w0mags[i]]
+      end
+
+      x0 = 0.3 * i
+%>
+
+    <model name="<%= name %>">
+     <pose> <%= x0 %> 0 0 0 0 0 </pose>
+     <link name="link">
+     <pose>0 0 0.02 0 0 0</pose>
+     <inertial>
+       <pose>0.0 0.0 <%= cogH %> 0 0 0</pose>
+       <mass>0.060318578948924034</mass>
+       <inertia>
+         <ixx>0.000311243867376448</ixx>
+         <iyy>0.000311243867376448</iyy>
+         <izz>0.0006128367621210681</izz>
+         <ixy>0.0</ixy>
+         <ixz>0.0</ixz>
+         <iyz>0.0</iyz>
+       </inertia>
+     </inertial>
+     <sensor name="imu" type="imu">
+       <always_on>true</always_on>
+     </sensor>
+    
+     <collision name="collision_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a">
+       <pose>0.09999999999999999 0 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_b">
+       <pose>0.024999999999999998 0.04330127018922193 0.0  -1.5707962969925737 -1.0471975511965974 1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_a_to_c">
+       <pose>0.024999999999999998 -0.04330127018922193 0.0  1.5707962969925737 -1.0471975511965974 -1.047197525387029</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b">
+       <pose>-0.049999999999999996 0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_b_to_c">
+       <pose>-0.049999999999999996 0.0 0.0  1.5707963267948963 -0.0 0.0</pose>
+       <geometry>
+         <cylinder>
+           <radius>0.005</radius>
+           <length>0.17320508075688773</length>
+         </cylinder>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     <collision name="collision_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <surface>
+         <friction>
+           <ode>
+             <mu><%= frictionCoefficient %></mu>
+             <mu2><%= frictionCoefficient %></mu2>
+             <fdir1>1 0 0</fdir1>
+           </ode>
+         </friction>
+       </surface>
+     </collision>
+     <visual name="visual_c">
+       <pose>-0.049999999999999996 -0.08660254037844387 0  0 0 0</pose>
+       <geometry>
+         <sphere>
+           <radius>0.02</radius>
+         </sphere>
+       </geometry>
+       <material>
+         <script>
+           <uri>file://media/materials/scripts/gazebo.material</uri>
+           <name>Gazebo/Grey</name>
+         </script>
+       </material>
+     </visual>
+    
+     </link>
+     <plugin name="<%= name %>" filename="libInitialVelocityPlugin.so">
+        <linear> <%= v0.join(" ") %> </linear>
+        <angular> <%= w0.join(" ") %> </angular>
+      </plugin>
+    </model>
+
+<% 
+    end
+  end
+%>
+   <gui fullscreen='0'>
+     <camera name='user_camera'>
+       <pose>1.5 -4 2.5  0 0.5 1.6</pose>
+       <view_controller>orbit</view_controller>
+     </camera>
+   </gui>
+  </world>
+</sdf>
+