207 lines
7.0 KiB
Plaintext
207 lines
7.0 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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<max_contacts>250</max_contacts>
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<ode>
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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="0.0000 0 0"/>
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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 0.0 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="-1.0 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="0.05 0.05 0.05"/>
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</geometry>
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<material script="Gazebo/Red" normal_map="normal_map.png">
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<ambient 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="0.05 0.05 0.05"/>
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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_ray" type="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="11" resolution="1.0" min_angle="-0.5236" max_angle="0.5236" />
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<vertical samples="3" resolution="1.0" min_angle="-0.5236" max_angle="0.5236" />
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</scan>
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<range min="0.05" max="30.0"/>
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</ray>
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</sensor>
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</link>
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<plugin name="plugin_1" filename="libray_test.so"/>
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</model>
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<model name="model_2" static="false">
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<origin pose="0.0 0.0 0.0 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_mesh_stl" laser_retro="100.0">
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<origin pose="0.0 0.1 0.0 0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="pr2/gripper_v0/l_finger_tip.stl" scale="1 1 1"/>
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</geometry>
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<material script="Gazebo/Red" normal_map="normal_map.png">
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<ambient 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_mesh_stl" laser_retro="100.0">
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<origin pose="0.0 0.1 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="pr2/gripper_v0/l_finger_tip.stl" scale="1 1 1"/>
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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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<visual cast_shadows="true" name="visual_mesh_dae" laser_retro="100.0">
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<origin pose="0.0 -0.1 0.0 0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="pr2/gripper_v0/l_finger_tip.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision name="collision_mesh_dae" laser_retro="100.0">
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<origin pose="0.0 -0.1 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="pr2/gripper_v0/l_finger_tip.dae" scale="1 1 1"/>
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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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</model>
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<model name="model_3" static="false">
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<origin pose="0.2 0.0 0.0 0.0 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 0.0 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="0.1 30.0 30.0"/>
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</geometry>
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<material script="Gazebo/Green" normal_map="normal_map.png">
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<ambient 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="0.1 30.0 30.0"/>
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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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</model>
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<light type="point" name="light_1" cast_shadows="true">
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<origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
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<diffuse rgba="0.5 0.5 0.5 0.5"/>
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<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
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<direction xyz="0 0 -1"/>
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<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
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</light>
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</world>
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</gazebo>
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