413 lines
13 KiB
Plaintext
413 lines
13 KiB
Plaintext
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<gazebo version="1.0">
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<world name="world_1">
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<scene>
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<ambient rgba='0.5 0.5 0.5 1.0' />
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<background rgba='0.5 0.5 0.5 1' >
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<sky material='Gazebo/CloudySky' />
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</background>
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<shadows enabled="true"/>
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<fog rgba="0.0 0.0 0.5 0.5" type="linear" start="2.0" end="10.0" density="0.5"/>
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</scene>
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<physics type="ode">
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<gravity xyz="0.0 0.0 -9.81"/>
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<ode>
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<solver type="quick" dt="0.001" iters="3000" sor="1.3"/>
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<constraints cfm="0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.0"/>
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</ode>
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</physics>
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<model name="model_1" static="false">
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<origin pose="0.0 0.0 2.1 0.523598776 0.0 0.0"/>
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<link name="link_1" self_collide="true" gravity="true" kinematic="false">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<inertial mass="10.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<damping linear="0.0" angular="0.0" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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<visual cast_shadows="true" name="visual_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.1" length="1.0"/>
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</geometry>
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<material script="Gazebo/Green" normal_map="normal_map.png">
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<color rgba="0.03 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision name="collision_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<cylinder radius="0.1" length="1.0"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
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</friction>
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<bounce restitution_coefficient="0" threshold="1000000.0"/>
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<contact>
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<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
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</contact>
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</surface>
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</collision>
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</link>
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<link name="link_2">
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<origin pose="0.0 0.0 -1.0 0.0 0.0 0.0"/>
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<inertial mass="10.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<damping linear="0.0" angular="0.0" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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<visual cast_shadows="true" name="visual_box" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<geometry>
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<box size="0.1 0.1 1.0"/>
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</geometry>
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<material script="Gazebo/Red" normal_map="normal_map.png">
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<color rgba="0.03 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision name="collision_box" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<box size="0.1 0.1 1.0"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
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</friction>
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<bounce restitution_coefficient="0" threshold="1000000.0"/>
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<contact>
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<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
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</contact>
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</surface>
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</collision>
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</link>
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<joint name="joint_0" type="revolute">
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<parent link="world"/>
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<child link="link_1"/>
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<axis xyz="1.0 0.0 0.0">
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<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
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<dynamics damping="1.0" friction="0.0"/>
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</axis>
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<physics>
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<ode>
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<cfm>0.2</cfm>
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<bounce>0.0</bounce>
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<max_force>1000.0</max_force>
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<velocity>0.0</velocity>
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<fudge_factor>0.0</fudge_factor>
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<limit cfm="0" erp="0.1"/>
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<suspension cfm="0.0" erp="0.2"/>
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</ode>
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</physics>
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</joint>
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<joint name="joint_1" type="revolute">
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<parent link="link_1"/>
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<child link="link_2"/>
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<axis xyz="1.0 0.0 0.0">
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<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
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<dynamics damping="1.0" friction="0.0"/>
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</axis>
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<physics>
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<ode>
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<cfm>0.2</cfm>
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<bounce>0.0</bounce>
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<max_force>1000.0</max_force>
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<velocity>0.0</velocity>
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<fudge_factor>0.0</fudge_factor>
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<limit cfm="0" erp="0.1"/>
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<suspension cfm="0.0" erp="0.2"/>
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</ode>
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</physics>
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</joint>
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</model>
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<model name="model_2" static="false">
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<origin pose="0.0 1.5 2.1 0.523598776 0.0 0.0"/>
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<link name="link_1" self_collide="true" gravity="true" kinematic="false">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<inertial mass="10.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<damping linear="0.0" angular="0.0" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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<visual cast_shadows="true" name="visual_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.1" length="1.0"/>
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</geometry>
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<material script="Gazebo/Green" normal_map="normal_map.png">
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<color rgba="0.03 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision name="collision_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<cylinder radius="0.1" length="1.0"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
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</friction>
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<bounce restitution_coefficient="0" threshold="1000000.0"/>
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<contact>
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<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
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</contact>
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</surface>
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</collision>
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</link>
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<link name="link_2">
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<origin pose="0.0 0.0 -1.0 0.0 0.0 0.0"/>
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<inertial mass="10.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<damping linear="0.0" angular="0.0" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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<visual cast_shadows="true" name="visual_box" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<geometry>
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<box size="0.1 0.1 1.0"/>
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</geometry>
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<material script="Gazebo/Red" normal_map="normal_map.png">
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<color rgba="0.03 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision name="collision_box" laser_retro="100.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<box size="0.1 0.1 1.0"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
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</friction>
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<bounce restitution_coefficient="0" threshold="1000000.0"/>
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<contact>
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<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
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</contact>
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</surface>
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</collision>
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</link>
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<joint name="joint_0" type="revolute">
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<parent link="world"/>
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<child link="link_1"/>
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<axis xyz="1.0 0.0 0.0">
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<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
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<dynamics damping="1.0" friction="0.0"/>
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</axis>
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<physics>
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<ode>
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<cfm>0.2</cfm>
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<bounce>0.0</bounce>
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<max_force>1000.0</max_force>
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<velocity>0.0</velocity>
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<fudge_factor>0.0</fudge_factor>
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<limit cfm="0" erp="0.1"/>
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<suspension cfm="0.0" erp="0.2"/>
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</ode>
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</physics>
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</joint>
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<joint name="joint_1" type="revolute">
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<parent link="link_1"/>
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<child link="link_2"/>
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<axis xyz="1.0 0.0 0.0">
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<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
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<dynamics damping="1.0" friction="0.0"/>
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</axis>
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<physics>
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<ode>
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<cfm>0.2</cfm>
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<bounce>0.0</bounce>
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<max_force>1000.0</max_force>
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<velocity>0.0</velocity>
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<fudge_factor>0.0</fudge_factor>
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<limit cfm="0" erp="0.1"/>
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<suspension cfm="0.0" erp="0.2"/>
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</ode>
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</physics>
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</joint>
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</model>
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<model name="model_3" static="false">
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<origin pose="0.0 -2.0 2.1 0.0 0.523598776 0.0"/>
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<link name="link_1" self_collide="true" gravity="true" kinematic="false">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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||
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||
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<inertial mass="10.0">
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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||
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<damping linear="0.0" angular="0.0" />
|
||
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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||
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<visual cast_shadows="true" name="visual_cylinder" laser_retro="100.0">
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||
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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||
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<geometry>
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||
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<cylinder radius="0.1" length="1.0"/>
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||
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</geometry>
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||
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<material script="Gazebo/Green" normal_map="normal_map.png">
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<color rgba="0.03 0.5 0.5 1.0"/>
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</material>
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</visual>
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||
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<collision name="collision_cylinder" laser_retro="100.0">
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||
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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||
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<max_contacts>250</max_contacts>
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<geometry>
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||
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<cylinder radius="0.1" length="1.0"/>
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</geometry>
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<surface>
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||
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<friction>
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<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
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</friction>
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||
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<bounce restitution_coefficient="0" threshold="1000000.0"/>
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<contact>
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<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
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</contact>
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</surface>
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</collision>
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</link>
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<link name="link_2">
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<origin pose="0.0 0.0 -1.0 0.0 0.0 0.0"/>
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||
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<inertial mass="10.0">
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||
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<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
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||
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<damping linear="0.0" angular="0.0" />
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||
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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||
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iyy="1.0" iyz="0.0"
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||
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izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_box" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Red" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_box" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 -0.5 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
|
||
|
|
</friction>
|
||
|
|
<bounce restitution_coefficient="0" threshold="1000000.0"/>
|
||
|
|
<contact>
|
||
|
|
<ode soft_cfm="0" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="joint_0" type="revolute">
|
||
|
|
<parent link="world"/>
|
||
|
|
<child link="link_1"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="0.0 1.0 0.0">
|
||
|
|
<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm>0.2</cfm>
|
||
|
|
<bounce>0.0</bounce>
|
||
|
|
<max_force>1000.0</max_force>
|
||
|
|
<velocity>0.0</velocity>
|
||
|
|
<fudge_factor>0.0</fudge_factor>
|
||
|
|
<limit cfm="0" erp="0.1"/>
|
||
|
|
<suspension cfm="0.0" erp="0.2"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="joint_1" type="revolute">
|
||
|
|
<parent link="link_1"/>
|
||
|
|
<child link="link_2"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="0.0 1.0 0.0">
|
||
|
|
<limit lower="-100" upper="100" effort="1000" velocity="1000"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm>0.2</cfm>
|
||
|
|
<bounce>0.0</bounce>
|
||
|
|
<max_force>1000.0</max_force>
|
||
|
|
<velocity>0.0</velocity>
|
||
|
|
<fudge_factor>0.0</fudge_factor>
|
||
|
|
<limit cfm="0" erp="0.1"/>
|
||
|
|
<suspension cfm="0.0" erp="0.2"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</gazebo>
|