549 lines
15 KiB
Plaintext
549 lines
15 KiB
Plaintext
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<?xml version='1.0'?>
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<sdf version='1.5'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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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>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<model name='simple_arm'>
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<link name='arm_base'>
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<inertial>
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<pose>0 0 0.00099 0 -0 0</pose>
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<inertia>
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<ixx>1.11</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>100.11</iyy>
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<iyz>0</iyz>
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<izz>1.01</izz>
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</inertia>
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<mass>101</mass>
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</inertial>
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<collision name='arm_base_geom'>
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<pose>0 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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<size>1 1 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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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='arm_base_geom_visual'>
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<pose>0 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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<size>1 1 0.1</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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Blue</name>
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</script>
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</material>
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</visual>
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<collision name='arm_base_geom_arm_trunk'>
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<pose>0 0 0.6 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>1</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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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='arm_base_geom_arm_trunk_visual'>
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<pose>0 0 0.6 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>1</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Red</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='arm_shoulder_pan'>
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<pose>0 0 1.1 0 -0 0</pose>
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<inertial>
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<pose>0.045455 0 0 0 -0 0</pose>
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<inertia>
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<ixx>0.011</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0225</iyy>
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<iyz>0</iyz>
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<izz>0.0135</izz>
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</inertia>
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<mass>1.1</mass>
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</inertial>
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<collision name='arm_shoulder_pan_geom'>
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<pose>0 0 0.05 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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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='arm_shoulder_pan_geom_visual'>
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<pose>0 0 0.05 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Yellow</name>
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</script>
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</material>
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</visual>
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<collision name='arm_shoulder_pan_geom_arm_shoulder'>
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<pose>0.55 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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<size>1 0.05 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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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='arm_shoulder_pan_geom_arm_shoulder_visual'>
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<pose>0.55 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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<size>1 0.05 0.1</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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Yellow</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='arm_elbow_pan'>
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<pose>1.05 0 1.1 0 -0 0</pose>
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<inertial>
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<pose>0.0875 0 0.083333 0 -0 0</pose>
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<inertia>
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<ixx>0.031</ixx>
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<ixy>0</ixy>
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<ixz>0.005</ixz>
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<iyy>0.07275</iyy>
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<iyz>0</iyz>
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<izz>0.04475</izz>
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</inertia>
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<mass>1.2</mass>
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</inertial>
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<collision name='arm_elbow_pan_geom'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.2</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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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='arm_elbow_pan_geom_visual'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.2</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Red</name>
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</script>
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</material>
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</visual>
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<collision name='arm_elbow_pan_geom_arm_elbow'>
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<pose>0.3 0 0.15 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.03 0.1</size>
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</box>
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</geometry>
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||
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<max_contacts>10</max_contacts>
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<surface>
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||
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<contact>
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<ode/>
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</contact>
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<bounce/>
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||
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<friction>
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||
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<ode/>
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</friction>
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</surface>
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</collision>
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||
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<visual name='arm_elbow_pan_geom_arm_elbow_visual'>
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||
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<pose>0.3 0 0.15 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>0.5 0.03 0.1</size>
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||
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</box>
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</geometry>
|
||
|
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<material>
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||
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|
<script>
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||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Yellow</name>
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</script>
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||
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</material>
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||
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</visual>
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||
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<collision name='arm_elbow_pan_geom_arm_wrist'>
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||
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<pose>0.55 0 0.15 0 -0 0</pose>
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||
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<geometry>
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||
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<cylinder>
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||
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<radius>0.05</radius>
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<length>0.3</length>
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</cylinder>
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||
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</geometry>
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||
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<max_contacts>10</max_contacts>
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||
|
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<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
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||
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|
</contact>
|
||
|
|
<bounce/>
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||
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|
<friction>
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||
|
|
<ode/>
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||
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</friction>
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||
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</surface>
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||
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</collision>
|
||
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<visual name='arm_elbow_pan_geom_arm_wrist_visual'>
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||
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<pose>0.55 0 0.15 0 -0 0</pose>
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||
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<geometry>
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||
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|
<cylinder>
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||
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<radius>0.05</radius>
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||
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<length>0.3</length>
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||
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</cylinder>
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||
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|
</geometry>
|
||
|
|
<material>
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||
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|
<script>
|
||
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|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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<name>Gazebo/Red</name>
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</script>
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||
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</material>
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||
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|
</visual>
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||
|
|
<velocity_decay>
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||
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|
<linear>0</linear>
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||
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|
<angular>0</angular>
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||
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|
</velocity_decay>
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||
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|
<self_collide>0</self_collide>
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||
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|
<kinematic>0</kinematic>
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||
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|
<gravity>1</gravity>
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||
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|
</link>
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||
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|
<link name='arm_wrist_lift'>
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||
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<pose>1.6 0 1.05 0 -0 0</pose>
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||
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<inertial>
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||
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|
<pose>0 0 0 0 -0 0</pose>
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||
|
|
<inertia>
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||
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|
<ixx>0.01</ixx>
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||
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|
<ixy>0</ixy>
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||
|
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<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
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||
|
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<iyz>0</iyz>
|
||
|
|
<izz>0.001</izz>
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||
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</inertia>
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||
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<mass>0.1</mass>
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||
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</inertial>
|
||
|
|
<collision name='arm_wrist_lift_geom'>
|
||
|
|
<pose>0 0 0.5 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.03</radius>
|
||
|
|
<length>1</length>
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||
|
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</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='arm_wrist_lift_geom_visual'>
|
||
|
|
<pose>0 0 0.5 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.03</radius>
|
||
|
|
<length>1</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Yellow</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<velocity_decay>
|
||
|
|
<linear>0</linear>
|
||
|
|
<angular>0</angular>
|
||
|
|
</velocity_decay>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
</link>
|
||
|
|
<link name='arm_wrist_roll'>
|
||
|
|
<pose>1.6 0 1 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.001</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.1</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name='arm_wrist_roll_geom'>
|
||
|
|
<pose>0 0 0.025 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.05</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='arm_wrist_roll_geom_visual'>
|
||
|
|
<pose>0 0 0.025 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.05</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<velocity_decay>
|
||
|
|
<linear>0</linear>
|
||
|
|
<angular>0</angular>
|
||
|
|
</velocity_decay>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
</link>
|
||
|
|
<joint name='arm_shoulder_pan_joint' type='revolute'>
|
||
|
|
<parent>arm_base</parent>
|
||
|
|
<child>arm_shoulder_pan</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<friction>0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name='arm_elbow_pan_joint' type='revolute'>
|
||
|
|
<parent>arm_shoulder_pan</parent>
|
||
|
|
<child>arm_elbow_pan</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<friction>0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name='arm_wrist_lift_joint' type='prismatic'>
|
||
|
|
<parent>arm_elbow_pan</parent>
|
||
|
|
<child>arm_wrist_lift</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<friction>0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.8</lower>
|
||
|
|
<upper>0.1</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name='arm_wrist_roll_joint' type='revolute'>
|
||
|
|
<parent>arm_wrist_lift</parent>
|
||
|
|
<child>arm_wrist_roll</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<friction>0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit>
|
||
|
|
<lower>-2.99999</lower>
|
||
|
|
<upper>2.99999</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<static>0</static>
|
||
|
|
</model>
|
||
|
|
<physics type='ode'>
|
||
|
|
<max_step_size>0.001</max_step_size>
|
||
|
|
<real_time_factor>1</real_time_factor>
|
||
|
|
<real_time_update_rate>1000</real_time_update_rate>
|
||
|
|
<gravity>0 0 -9.8</gravity>
|
||
|
|
</physics>
|
||
|
|
</world>
|
||
|
|
</sdf>
|