846 lines
30 KiB
Plaintext
846 lines
30 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 1.0">
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<sky material="Gazebo/CloudySky"/>
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</background>
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<shadows enabled="true" rgba="0.0 0.0 0.5 0.5" type="texture_gpu"/>
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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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<ode>
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<max_contacts>250</max_contacts>
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<solver type="quick" dt="0.001" iters="20" 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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<gravity xyz="0.0 0.0 -9.81"/>
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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 1.0 0.0 0.0 0.0"/>
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<link name="link_1" self_collide="true" gravity="false" 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 0.0 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 0.0 0.0 0.0 0.0"/>
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<geometry>
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<box size="1.0 1.0 2.0"/>
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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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<visual cast_shadows="true" name="visual_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="1.0" length="2.0"/>
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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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<visual cast_shadows="true" name="visual_sphere" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<sphere radius="0.5"/>
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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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<visual cast_shadows="true" name="visual_plane" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<plane normal="0.0 0.0 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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<visual cast_shadows="true" name="visual_image" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<image filename="test.png" scale="2.0" threshold="10" height="3.0" granularity="2"/>
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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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<visual cast_shadows="true" name="visual_heightmap" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<heightmap filename="test.png" size="1.0 1.0 2.0" offset="0.0 0.0 0.0"/>
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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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<visual cast_shadows="true" name="visual_mesh" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="test.dae" scale="1.0 1.0 2.0"/>
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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_box" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 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="1.0 1.0 2.0"/>
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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 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" soft_erp="0.2" 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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<collision name="collision_cylinder" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 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="1.0" length="2.0"/>
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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" soft_erp="0.2" 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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<collision name="collision_sphere" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<sphere radius="0.5"/>
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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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<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" soft_erp="0.2" 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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<collision name="collision_plane" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<plane normal="0.0 0.0 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" soft_erp="0.2" 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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<collision name="collision_image" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<image filename="test.png" scale="2.0" threshold="10" height="3.0" granularity="2"/>
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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" soft_erp="0.2" 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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<collision name="collision_heightmap" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<heightmap filename="test.png" size="1.0 1.0 2.0" offset="0.0 0.0 0.0"/>
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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" soft_erp="0.2" 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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<collision name="collision_mesh" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<max_contacts>250</max_contacts>
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<geometry>
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<mesh filename="test.dae" scale="1.0 1.0 2.0"/>
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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" soft_erp="0.2" 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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<sensor name="sensor_camera" always_on="true" update_rate="2.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<camera>
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<horizontal_fov angle="1.57"/>
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<image width="2560" height="1600" format="BAYER_BGGR8"/>
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<clip near="0.01" far="100.0"/>
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<save enabled="false" path="/tmp"/>
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</camera>
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</sensor>
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<sensor name="sensor_ray" always_on="true" update_rate="2.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<ray>
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<scan display="true">
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<horizontal samples="500" resolution="1.0" min_angle="-1.57" max_angle="1.57" />
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<vertical samples="300" resolution="1.0" min_angle="-1.57" max_angle="1.57" />
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</scan>
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<range min="0.01" max="30.0"/>
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</ray>
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</sensor>
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<sensor name="sensor_contact" always_on="true" update_rate="2.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<collision name="collision_box"/>
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</sensor>
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</link>
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<link name="link_2">
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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 0.0 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 0.0 0.0 0.0 0.0"/>
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<geometry>
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<box size="1.0 1.0 2.0"/>
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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_box" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 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="1.0 1.0 2.0"/>
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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" soft_erp="0.2" 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_3">
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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 0.0 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 0.0 0.0 0.0 0.0"/>
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<geometry>
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<box size="1.0 1.0 2.0"/>
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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_box" laser_retro="100.0">
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<origin pose="0.0 0.0 0.0 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="1.0 1.0 2.0"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<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="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_2" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_box" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="1.0 1.0 2.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" 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 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<box size="1.0 1.0 2.0"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_3" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_cylinder" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder radius="1.0" length="2.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_cylinder" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<cylinder radius="1.0" length="2.0"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_4" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_sphere" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.5"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_sphere" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.5"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
<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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_5" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_plane" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<plane normal="0.0 0.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_plane" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<plane normal="0.0 0.0 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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_6" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_image" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<image filename="test.png" scale="2.0" threshold="10" height="3.0" granularity="2"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_image" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<image filename="test.png" scale="2.0" threshold="10" height="3.0" granularity="2"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_7" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_heightmap" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<heightmap filename="test.png" size="1.0 1.0 2.0" offset="0.0 0.0 0.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_heightmap" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<heightmap filename="test.png" size="1.0 1.0 2.0" offset="0.0 0.0 0.0"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="model_8" static="false">
|
||
|
|
|
||
|
|
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
|
||
|
|
|
||
|
|
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<inertial mass="10.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<damping linear="0.0" angular="0.0" />
|
||
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="1.0" iyz="0.0"
|
||
|
|
izz="1.0"/>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual cast_shadows="true" name="visual_mesh" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="test.dae" scale="1.0 1.0 2.0"/>
|
||
|
|
</geometry>
|
||
|
|
<material script="Gazebo/Green" normal_map="normal_map.png">
|
||
|
|
<color rgba="0.03 0.5 0.5 1.0"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision_mesh" laser_retro="100.0">
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="test.dae" scale="1.0 1.0 2.0"/>
|
||
|
|
</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" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<joint name="joint_2" type="prismatic">
|
||
|
|
<parent link="model_1::link_2"/>
|
||
|
|
<child link="model_1::link_3"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="joint_3" type="revolute2">
|
||
|
|
<parent link="model_2::link_1"/>
|
||
|
|
<child link="model_3::link_1"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<axis2 xyz="0.0 0.0 1.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="joint_4" type="ball">
|
||
|
|
<parent link="model_3::link_1"/>
|
||
|
|
<child link="model_4::link_1"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<axis2 xyz="0.0 0.0 1.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="joint_5" type="universal">
|
||
|
|
<parent link="model_4::link_1"/>
|
||
|
|
<child link="model_5::link_1"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<axis2 xyz="0.0 0.0 1.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="joint_6" type="piston">
|
||
|
|
<parent link="model_5::link_1"/>
|
||
|
|
<child link="model_6::link_1"/>
|
||
|
|
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
|
||
|
|
<axis xyz="1.0 0.0 0.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0"/>
|
||
|
|
</axis>
|
||
|
|
<axis2 xyz="0.0 0.0 1.0">
|
||
|
|
<limit lower="-1.57" upper="1.57" effort="100" velocity="10"/>
|
||
|
|
<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="1.0" erp="1.0"/>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<light type="point" name="light_1" cast_shadows="true">
|
||
|
|
<origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
|
||
|
|
<diffuse rgba="0.5 0.5 0.5 0.5"/>
|
||
|
|
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
|
||
|
|
<direction xyz="0 0 -1"/>
|
||
|
|
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
|
||
|
|
</light>
|
||
|
|
|
||
|
|
<light type="spot" name="light_2" cast_shadows="true">
|
||
|
|
<origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
|
||
|
|
<diffuse rgba="0.5 0.5 0.5 0.5"/>
|
||
|
|
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
|
||
|
|
<direction xyz="0 0 -1"/>
|
||
|
|
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
|
||
|
|
</light>
|
||
|
|
|
||
|
|
<light type="directional" name="light_3" cast_shadows="true">
|
||
|
|
<origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
|
||
|
|
<diffuse rgba="0.5 0.5 0.5 0.5"/>
|
||
|
|
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
|
||
|
|
<direction xyz="0 0 -1"/>
|
||
|
|
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
|
||
|
|
</light>
|
||
|
|
|
||
|
|
<plugin name="plugin_1" filename="libgazebo_ros_camera.so">
|
||
|
|
<data name="sensor" value="model_1::sensor_camera" />
|
||
|
|
<data name="alwaysOn" value="true" />
|
||
|
|
<data name="updateRate" value="25.0" />
|
||
|
|
<data name="imageTopicName" value="narrow_stereo/left/image_raw" />
|
||
|
|
<data name="cameraInfoTopicName" value="narrow_stereo/left/camera_info" />
|
||
|
|
<data name="frameName" value="narrow_stereo_optical_frame" />
|
||
|
|
<data name="hackBaseline" value="0" />
|
||
|
|
<data name="CxPrime" value="320.5" />
|
||
|
|
<data name="Cx" value="320.5" />
|
||
|
|
<data name="Cy" value="240.5" />
|
||
|
|
<!-- image_width / (2*tan(hfov_radian /2)) -->
|
||
|
|
<!-- 320 for wide and 772.55 for narrow stereo camera -->
|
||
|
|
<data name="focal_length" value="772.55" />
|
||
|
|
<data name="distortion_k1" value="0.0" />
|
||
|
|
<data name="distortion_k2" value="0.0" />
|
||
|
|
<data name="distortion_k3" value="0.0" />
|
||
|
|
<data name="distortion_t1" value="0.0" />
|
||
|
|
<data name="distortion_t2" value="0.0" />
|
||
|
|
</plugin>
|
||
|
|
|
||
|
|
<plugin name="plugin_2" filename="libgazebo_ros_laser.so">
|
||
|
|
<data name="sensor" value="model_1::sensor_ray" />
|
||
|
|
<data name="gaussianNoise" value="0.005" />
|
||
|
|
<data name="alwaysOn" value="true" />
|
||
|
|
<data name="updateRate" value="20" />
|
||
|
|
<data name="topicName" value="base_scan" />
|
||
|
|
<data name="frameName" value="base_laser_link" />
|
||
|
|
</plugin>
|
||
|
|
|
||
|
|
<plugin name="plugin_3" filename="libgazebo_ros_bumper.so">
|
||
|
|
<data name="sensor" value="model_1::sensor_contact" />
|
||
|
|
<data name="alwaysOn" value="true" />
|
||
|
|
<data name="updateRate" value="100.0" />
|
||
|
|
<data name="frameName" value="r_gripper_palm_link" />
|
||
|
|
<data name="bumperTopicName" value="r_gripper_palm_bumper" />
|
||
|
|
</plugin>
|
||
|
|
|
||
|
|
</world>
|
||
|
|
</gazebo>
|