626 lines
26 KiB
Plaintext
626 lines
26 KiB
Plaintext
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<sdf version="1.4">
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<world name="default">
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<scene>
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<ambient>0.5 0.5 0.5 1.0</ambient>
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<background>0.5 0.5 0.5 1.0</background>
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</scene>
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<physics type="ode">
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<gravity>0.0 0.0 0.0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>20</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<max_contacts>250</max_contacts>
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<max_step_size>0.001</max_step_size>
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</physics>
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<model name="model_1">
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<pose>0.0 0.0 2.0 0.0 0.0 0.0</pose>
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<link name="link_1">
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<pose>0.0 0.0 0.0 0.0 0.0 0.707</pose>
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<inertial>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.0</iyy>
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<iyz>0.0</iyz>
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<izz>1.0</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<visual name="visual_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material normal_map="normal_map.png">
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<ambient>0.03 0.5 0.5 1.0</ambient>
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<script>Gazebo/Red</script>
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</material>
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<cast_shadows>true</cast_shadows>
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<laser_retro>100.0</laser_retro>
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</visual>
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<collision name="collision_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.5</mu>
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<mu2>0.2</mu2>
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<fdir1>1.0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1000000.0</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e15</kp>
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<kd>1e13</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.0001</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>100.0</laser_retro>
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</collision>
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<sensor name="laser_sensor" type="gpu_ray">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-1.396263</min_angle>
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<max_angle>1.396263</max_angle>
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</horizontal>
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<vertical>
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<samples>1</samples>
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<resolution>1</resolution>
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<min_angle>0.0</min_angle>
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<max_angle>0.0</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.080000000000000002</min>
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<max>10.0</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<!--
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<plugin name="plugin_1" filename="libgazebo_ros_gpu_laser.so">
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<alwaysOn>1</alwaysOn>
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<updateRate>20.0</updateRate>
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<gaussianNoise>0.0</gaussianNoise>
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<imageTopicName>image</imageTopicName>
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<topicName>laser_scan</topicName>
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<frameName>/map</frameName>
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<pointCloudCutoff>0.001</pointCloudCutoff>
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</plugin>
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-->
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>20.0</update_rate>
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<topic>gpu_scan</topic>
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</sensor>
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<gravity>false</gravity>
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<self_collide>true</self_collide>
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<kinematic>false</kinematic>
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</link>
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</model>
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<model name="model_2">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<link name="link_1">
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<pose>3.0 0.0 2.0 0.0 0.0 0.0</pose>
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<inertial>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.0</iyy>
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<iyz>0.0</iyz>
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<izz>1.0</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<visual name="visual_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>1 2 2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.5 0.03 0.03 1.0</ambient>
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<script>Gazebo/Red</script>
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</material>
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<cast_shadows>true</cast_shadows>
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<laser_retro>100.0</laser_retro>
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</visual>
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<collision name="collision_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>1 2 2</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.5</mu>
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<mu2>0.2</mu2>
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<fdir1>1.0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1000000.0</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e15</kp>
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<kd>1e13</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.0001</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>100.0</laser_retro>
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</collision>
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<gravity>false</gravity>
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<self_collide>true</self_collide>
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<kinematic>false</kinematic>
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</link>
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<link name="link_2">
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<pose>3.0 -0.5 3.8 0.0 0.0 0.0</pose>
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<inertial>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.0</iyy>
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<iyz>0.0</iyz>
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<izz>1.0</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<visual name="visual_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<geometry>
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||
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<box>
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||
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<size>3 0.5 0.5</size>
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</box>
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</geometry>
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<material>
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<ambient>0.03 0.5 0.03 1.0</ambient>
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<script>Gazebo/Green</script>
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</material>
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<cast_shadows>true</cast_shadows>
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<laser_retro>50.0</laser_retro>
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</visual>
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<collision name="collision_box">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>3 0.5 0.5</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.5</mu>
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<mu2>0.2</mu2>
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<fdir1>1.0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1000000.0</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e15</kp>
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<kd>1e13</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.0001</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>50.0</laser_retro>
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</collision>
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<gravity>false</gravity>
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<self_collide>true</self_collide>
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<kinematic>false</kinematic>
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</link>
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<link name="link_3">
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||
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<pose>0.0 3.0 2.0 0.0 0.0 0.7</pose>
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<inertial>
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||
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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||
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<ixx>1.0</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.0</iyy>
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<iyz>0.0</iyz>
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<izz>1.0</izz>
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</inertia>
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||
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<mass>10.0</mass>
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</inertial>
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||
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<visual name="visual_box">
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||
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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||
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<geometry>
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||
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<box>
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||
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<size>2 2 2</size>
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</box>
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||
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</geometry>
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||
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<material>
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||
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<ambient>0.5 0.5 0.03 1.0</ambient>
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<script>Gazebo/Yellow</script>
|
||
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</material>
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||
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<cast_shadows>true</cast_shadows>
|
||
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<laser_retro>1.0</laser_retro>
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||
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</visual>
|
||
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<collision name="collision_box">
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||
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
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<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
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<box>
|
||
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<size>2 2 2</size>
|
||
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</box>
|
||
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</geometry>
|
||
|
|
<surface>
|
||
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<friction>
|
||
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<ode>
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||
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<mu>0.5</mu>
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<mu2>0.2</mu2>
|
||
|
|
<fdir1>1.0 0 0</fdir1>
|
||
|
|
<slip1>0</slip1>
|
||
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<slip2>0</slip2>
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||
|
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</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
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<restitution_coefficient>0</restitution_coefficient>
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||
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<threshold>1000000.0</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
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<soft_cfm>0</soft_cfm>
|
||
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<soft_erp>0.2</soft_erp>
|
||
|
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<kp>1e15</kp>
|
||
|
|
<kd>1e13</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.0001</min_depth>
|
||
|
|
</ode>
|
||
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|
</contact>
|
||
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|
</surface>
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||
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|
<laser_retro>100.0</laser_retro>
|
||
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</collision>
|
||
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<gravity>false</gravity>
|
||
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<self_collide>true</self_collide>
|
||
|
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<kinematic>false</kinematic>
|
||
|
|
</link>
|
||
|
|
<link name="link_4">
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||
|
|
<pose>2.0 -2.0 2.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1.0</ixx>
|
||
|
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<ixy>0.0</ixy>
|
||
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<ixz>0.0</ixz>
|
||
|
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<iyy>1.0</iyy>
|
||
|
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<iyz>0.0</iyz>
|
||
|
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<izz>1.0</izz>
|
||
|
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</inertia>
|
||
|
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<mass>10.0</mass>
|
||
|
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</inertial>
|
||
|
|
<visual name="visual_box">
|
||
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
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<geometry>
|
||
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<cylinder>
|
||
|
|
<radius>1</radius>
|
||
|
|
<length>2</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.03 0.5 1.0</ambient>
|
||
|
|
<script>Gazebo/Purple</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
<laser_retro>70.0</laser_retro>
|
||
|
|
</visual>
|
||
|
|
<collision name="collision_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>1</radius>
|
||
|
|
<length>2</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.5</mu>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<fdir1>1.0 0 0</fdir1>
|
||
|
|
<slip1>0</slip1>
|
||
|
|
<slip2>0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
|
|
<restitution_coefficient>0</restitution_coefficient>
|
||
|
|
<threshold>1000000.0</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<soft_cfm>0</soft_cfm>
|
||
|
|
<soft_erp>0.2</soft_erp>
|
||
|
|
<kp>1e15</kp>
|
||
|
|
<kd>1e13</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.0001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
<laser_retro>100.0</laser_retro>
|
||
|
|
</collision>
|
||
|
|
<gravity>false</gravity>
|
||
|
|
<self_collide>true</self_collide>
|
||
|
|
<kinematic>false</kinematic>
|
||
|
|
</link>
|
||
|
|
<link name="link_5">
|
||
|
|
<pose>2.0 2.0 2.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1.0</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>1.0</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>1.0</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>1</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.03 0.5 0.5 1.0</ambient>
|
||
|
|
<script>Gazebo/Turquoise</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
<laser_retro>35.0</laser_retro>
|
||
|
|
</visual>
|
||
|
|
<collision name="collision_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>1</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.5</mu>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<fdir1>1.0 0 0</fdir1>
|
||
|
|
<slip1>0</slip1>
|
||
|
|
<slip2>0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
|
|
<restitution_coefficient>0</restitution_coefficient>
|
||
|
|
<threshold>1000000.0</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<soft_cfm>0</soft_cfm>
|
||
|
|
<soft_erp>0.2</soft_erp>
|
||
|
|
<kp>1e15</kp>
|
||
|
|
<kd>1e13</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.0001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
<laser_retro>100.0</laser_retro>
|
||
|
|
</collision>
|
||
|
|
<gravity>false</gravity>
|
||
|
|
<self_collide>true</self_collide>
|
||
|
|
<kinematic>false</kinematic>
|
||
|
|
</link>
|
||
|
|
<link name="link_6">
|
||
|
|
<pose>-2.0 -2.0 2.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1.0</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>1.0</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>1.0</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>1</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.03 0.03 0.5 1.0</ambient>
|
||
|
|
<script>Gazebo/Blue</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
<laser_retro>35.0</laser_retro>
|
||
|
|
</visual>
|
||
|
|
<collision name="collision_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>1</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.5</mu>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<fdir1>1.0 0 0</fdir1>
|
||
|
|
<slip1>0</slip1>
|
||
|
|
<slip2>0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
|
|
<restitution_coefficient>0</restitution_coefficient>
|
||
|
|
<threshold>1000000.0</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<soft_cfm>0</soft_cfm>
|
||
|
|
<soft_erp>0.2</soft_erp>
|
||
|
|
<kp>1e15</kp>
|
||
|
|
<kd>1e13</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.0001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
<laser_retro>100.0</laser_retro>
|
||
|
|
</collision>
|
||
|
|
<gravity>false</gravity>
|
||
|
|
<self_collide>true</self_collide>
|
||
|
|
<kinematic>false</kinematic>
|
||
|
|
</link>
|
||
|
|
<link name="link_7">
|
||
|
|
<pose>-1.5 0.0 2.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1.0</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>1.0</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>1.0</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 2 2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.03 0.03 1.0</ambient>
|
||
|
|
<script>Gazebo/Red</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
<laser_retro>150.0</laser_retro>
|
||
|
|
</visual>
|
||
|
|
<collision name="collision_box">
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<max_contacts>250</max_contacts>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 2 2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.5</mu>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<fdir1>1.0 0 0</fdir1>
|
||
|
|
<slip1>0</slip1>
|
||
|
|
<slip2>0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<bounce>
|
||
|
|
<restitution_coefficient>0</restitution_coefficient>
|
||
|
|
<threshold>1000000.0</threshold>
|
||
|
|
</bounce>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<soft_cfm>0</soft_cfm>
|
||
|
|
<soft_erp>0.2</soft_erp>
|
||
|
|
<kp>1e15</kp>
|
||
|
|
<kd>1e13</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.0001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
<laser_retro>100.0</laser_retro>
|
||
|
|
</collision>
|
||
|
|
<gravity>false</gravity>
|
||
|
|
<self_collide>true</self_collide>
|
||
|
|
<kinematic>false</kinematic>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<light type="point" name="light_1">
|
||
|
|
<pose>0.0 0.0 10.0 0.0 0.0 0.0</pose>
|
||
|
|
<diffuse>0.5 0.5 0.5 0.5</diffuse>
|
||
|
|
<attenuation>
|
||
|
|
<range>1000.0</range>
|
||
|
|
<constant>0.01</constant>
|
||
|
|
<quadratic>0.0001</quadratic>
|
||
|
|
</attenuation>
|
||
|
|
<direction>0 0 -1</direction>
|
||
|
|
<spot>
|
||
|
|
<inner_angle>1.57</inner_angle>
|
||
|
|
<outer_angle>1.57</outer_angle>
|
||
|
|
<falloff>1.0</falloff>
|
||
|
|
</spot>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
</light>
|
||
|
|
</world>
|
||
|
|
</sdf>
|