1598 lines
44 KiB
Plaintext
1598 lines
44 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- this file was generated using embedded ruby -->
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<sdf version='1.6'>
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<world name='default'>
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<physics type="ode">
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<friction_model>cone_model</friction_model>
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</solver>
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</ode>
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</physics>
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<model name='box_0'>
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<pose>9.0 0.0 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>9.0 0.0 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_1'>
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<pose>8.827067523629074 1.7558128981451542 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>8.827067523629074 1.7558128981451542 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_2'>
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<pose>8.31491579260158 3.444150891285808 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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<material>
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<script>
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|
<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>8.31491579260158 3.444150891285808 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_3'>
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<pose>7.483226510722907 5.00013209717642 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>7.483226510722907 5.00013209717642 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_4'>
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<pose>6.3639610306789285 6.363961030678928 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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<material>
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<script>
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|
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<name>Gazebo/Grey</name>
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|
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<uri>file://media/materials/scripts/gazebo.material</uri>
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|
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</script>
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>6.3639610306789285 6.363961030678928 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_5'>
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<pose>5.0001320971764205 7.483226510722907 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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|
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<material>
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||
|
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<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
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</material>
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</visual>
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</link>
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>5.0001320971764205 7.483226510722907 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_6'>
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<pose>3.4441508912858083 8.31491579260158 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</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>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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</box>
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</geometry>
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|
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<material>
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||
|
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<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
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|
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</visual>
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|
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</link>
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|
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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear>3.4441508912858083 8.31491579260158 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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</model>
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<model name='box_7'>
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<pose>1.755812898145155 8.827067523629074 0.1 0 -0 0</pose>
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<link name='link_1'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.02416666666666667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.02416666666666667</iyy>
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<iyz>0</iyz>
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<izz>0.041666666666666664</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.5 0.5 0.2</size>
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|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
|
||
|
|
<linear>8.314915792601578 -3.4441508912858136 0</linear>
|
||
|
|
<angular>0 0 0</angular>
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='box_31'>
|
||
|
|
<pose>8.827067523629072 -1.7558128981451584 0.1 0 -0 0</pose>
|
||
|
|
<link name='link_1'>
|
||
|
|
<inertial>
|
||
|
|
<mass>1</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.02416666666666667</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.02416666666666667</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.041666666666666664</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.5 0.5 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.3</mu>
|
||
|
|
<mu2>0.3</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='visual'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.5 0.5 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
|
||
|
|
<linear>8.827067523629072 -1.7558128981451584 0</linear>
|
||
|
|
<angular>0 0 0</angular>
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<gui fullscreen='0'>
|
||
|
|
<camera name='user_camera'>
|
||
|
|
<pose>-0.93396 -19.9626 11.7572 0 0.503643 1.6562</pose>
|
||
|
|
<view_controller>orbit</view_controller>
|
||
|
|
<projection_type>perspective</projection_type>
|
||
|
|
</camera>
|
||
|
|
</gui>
|
||
|
|
</world>
|
||
|
|
</sdf>
|