500 lines
17 KiB
Plaintext
500 lines
17 KiB
Plaintext
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<transparency>0.000000</transparency>
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</visual>
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<gravity>1</gravity>
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<self_collide>0</self_collide>
|
||
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<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<static>0</static>
|
||
|
|
</model>
|
||
|
|
<model name="box_05_model">
|
||
|
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<allow_auto_disable>0</allow_auto_disable>
|
||
|
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<pose>10.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
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|
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<link name="box_05_body">
|
||
|
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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||
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<inertial>
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||
|
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<inertia>
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||
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<ixx>10.000000</ixx>
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||
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<ixy>0.000000</ixy>
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||
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<ixz>0.000000</ixz>
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<iyy>10.000000</iyy>
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||
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<iyz>0.000000</iyz>
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||
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|
<izz>10.000000</izz>
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||
|
|
</inertia>
|
||
|
|
<mass>1.000000</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="box_05_geom">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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||
|
|
<geometry>
|
||
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<box>
|
||
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|
<size>1.000000 1.000000 1.000000</size>
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||
|
|
</box>
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|
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</geometry>
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<surface>
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||
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<friction>
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||
|
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<ode>
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||
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|
<mu>1.000000</mu>
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||
|
|
<mu2>1.000000</mu2>
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||
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<fdir1>0.000000 0.000000 0.000000</fdir1>
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|
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<slip1>0.000000</slip1>
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|
|
<slip2>0.000000</slip2>
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||
|
|
</ode>
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||
|
|
</friction>
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<bounce>
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||
|
|
<restitution_coefficient>0.000000</restitution_coefficient>
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||
|
|
<threshold>100000.000000</threshold>
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||
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|
</bounce>
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||
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<contact>
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||
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<ode>
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||
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|
<soft_cfm>0.000000</soft_cfm>
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||
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|
<soft_erp>0.200000</soft_erp>
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||
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|
<kp>100000.000000</kp>
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||
|
|
<kd>1.000000</kd>
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||
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|
<max_vel>100.000000</max_vel>
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||
|
|
<min_depth>0.001000</min_depth>
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||
|
|
</ode>
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||
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|
</contact>
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|
|
</surface>
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||
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<laser_retro>0.000000</laser_retro>
|
||
|
|
</collision>
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||
|
|
<visual name="box_05_geom_visual">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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||
|
|
<geometry>
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||
|
|
<box>
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||
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|
<size>1.000000 1.000000 1.000000</size>
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||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/Rocky</script>
|
||
|
|
</material>
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||
|
|
<cast_shadows>1</cast_shadows>
|
||
|
|
<laser_retro>0.000000</laser_retro>
|
||
|
|
<transparency>0.000000</transparency>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<static>0</static>
|
||
|
|
</model>
|
||
|
|
<model name="box_06_model">
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>12.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<link name="box_06_body">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>10.000000</ixx>
|
||
|
|
<ixy>0.000000</ixy>
|
||
|
|
<ixz>0.000000</ixz>
|
||
|
|
<iyy>10.000000</iyy>
|
||
|
|
<iyz>0.000000</iyz>
|
||
|
|
<izz>10.000000</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.000000</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="box_06_geom">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.000000 1.000000 1.000000</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.010000</mu>
|
||
|
|
<mu2>1.010000</mu2>
|
||
|
|
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||
|
|
<slip1>0.000000</slip1>
|
||
|
|
<slip2>0.000000</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
|
|
<restitution_coefficient>0.000000</restitution_coefficient>
|
||
|
|
<threshold>100000.000000</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<soft_cfm>0.000000</soft_cfm>
|
||
|
|
<soft_erp>0.200000</soft_erp>
|
||
|
|
<kp>100000.000000</kp>
|
||
|
|
<kd>1.000000</kd>
|
||
|
|
<max_vel>100.000000</max_vel>
|
||
|
|
<min_depth>0.001000</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
<laser_retro>0.000000</laser_retro>
|
||
|
|
</collision>
|
||
|
|
<visual name="box_06_geom_visual">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.000000 1.000000 1.000000</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/Rocky</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>1</cast_shadows>
|
||
|
|
<laser_retro>0.000000</laser_retro>
|
||
|
|
<transparency>0.000000</transparency>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<static>0</static>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|