132 lines
5.0 KiB
Plaintext
132 lines
5.0 KiB
Plaintext
<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/Sky"/>
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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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<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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<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 enable="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"/> <!-- necessary because there might be multiple collisions -->
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</sensor>
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</link>
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</model>
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<plugin name="plugin_1" filename="libgazebo_ros_camera.so">
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<data name="sensor" value="model_1::sensor_camera" />
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<data name="alwaysOn" value="true" />
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<data name="updateRate" value="25.0" />
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<data name="imageTopicName" value="narrow_stereo/left/image_raw" />
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<data name="cameraInfoTopicName" value="narrow_stereo/left/camera_info" />
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<data name="frameName" value="narrow_stereo_optical_frame" />
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<data name="hackBaseline" value="0" />
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<data name="CxPrime" value="320.5" />
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<data name="Cx" value="320.5" />
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<data name="Cy" value="240.5" />
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<!-- image_width / (2*tan(hfov_radian /2)) -->
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<!-- 320 for wide and 772.55 for narrow stereo camera -->
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<data name="focal_length" value="772.55" />
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<data name="distortion_k1" value="0.0" />
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<data name="distortion_k2" value="0.0" />
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<data name="distortion_k3" value="0.0" />
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<data name="distortion_t1" value="0.0" />
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<data name="distortion_t2" value="0.0" />
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</plugin>
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<plugin name="plugin_2" filename="libgazebo_ros_laser.so">
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<data name="sensor" value="model_1::sensor_ray" />
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<data name="gaussianNoise" value="0.005" />
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<data name="alwaysOn" value="true" />
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<data name="updateRate" value="20" />
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<data name="topicName" value="base_scan" />
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<data name="frameName" value="base_laser_link" />
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</plugin>
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<plugin name="plugin_3" filename="libgazebo_ros_bumper.so">
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<data name="sensor" value="model_1::sensor_contact" />
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<data name="alwaysOn" value="true" />
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<data name="updateRate" value="100.0" />
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<data name="frameName" value="r_gripper_palm_link" />
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<data name="bumperTopicName" value="r_gripper_palm_bumper" />
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</plugin>
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</world>
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</gazebo>
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