forked from xtdrone/XTDrone
5578 lines
186 KiB
XML
5578 lines
186 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.6'>
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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 frame=''>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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<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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<torsional>
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<ode/>
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</torsional>
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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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<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/Gray</name>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics name='default_physics' default='0' type='ode'>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<wind/>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<state world_name='default'>
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<sim_time>145 316000000</sim_time>
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<real_time>18 101158500</real_time>
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<wall_time>1581594052 555804244</wall_time>
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<iterations>17974</iterations>
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<model name='ground_plane'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='room5'>
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<pose frame=''>4.86537 7.64263 0 0 -0 2.94701</pose>
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<scale>1 1 1</scale>
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<link name='Wall_0'>
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<pose frame=''>6.58731 15.431 0 0 -0 1.89981</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_1'>
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<pose frame=''>6.15565 15.8913 0 0 -0 2.94701</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_11'>
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<pose frame=''>7.55497 14.6212 0 0 -0 -0.456385</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_12'>
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<pose frame=''>7.81622 9.94931 0 0 -0 -2.81258</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_13'>
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<pose frame=''>8.61546 13.6873 0 0 -0 -1.24178</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_16'>
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<pose frame=''>9.67887 11.9474 0 0 -0 -1.76537</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_17'>
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<pose frame=''>9.28392 12.7896 0 0 -0 -0.706135</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_18'>
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<pose frame=''>9.57241 11.2039 0 0 -0 -1.74958</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_2'>
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<pose frame=''>5.06313 15.8955 0 0 -0 -3.07438</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_20'>
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<pose frame=''>6.71014 9.27356 0 0 -0 -2.28898</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_21'>
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<pose frame=''>9.28532 10.5647 0 0 -0 -2.17062</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_23'>
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<pose frame=''>5.95829 8.16529 0 0 -0 -2.15194</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_24'>
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<pose frame=''>5.8271 7.07557 0 0 -0 -0.979985</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_25'>
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<pose frame=''>6.4416 6.49675 0 0 -0 -0.456385</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_26'>
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<pose frame=''>6.27809 6.31108 0 0 -0 -3.07438</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_3'>
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<pose frame=''>3.98526 15.5218 0 0 -0 -2.28898</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_32'>
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<pose frame=''>0.371098 12.1786 0 0 -0 -2.26516</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_33'>
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<pose frame=''>-0.846836 9.67133 0 0 -0 -1.50358</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_34'>
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<pose frame=''>-0.123133 8.39502 0 0 -0 2.94701</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_35'>
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<pose frame=''>-0.669367 11.0068 0 0 -0 -2.28898</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_36'>
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<pose frame=''>0.970614 8.13931 0 0 -0 -0.194585</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37'>
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<pose frame=''>1.50636 7.44605 0 0 -0 -1.24178</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone'>
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<pose frame=''>0.532203 11.7742 0 0 -0 2.0944</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone'>
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<pose frame=''>6.07701 8.60292 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_0'>
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<pose frame=''>1.45607 -1.59163 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_1'>
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<pose frame=''>6.22069 -1.03513 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_2'>
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<pose frame=''>0.030267 3.89032 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_3'>
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<pose frame=''>1.46279 6.58891 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_4'>
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<pose frame=''>-0.634919 9.80124 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_37_clone_clone_5'>
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<pose frame=''>5.05551 15.616 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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</link>
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<link name='Wall_37_clone_clone_6'>
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<pose frame=''>5.62923 6.52409 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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</link>
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<link name='Wall_37_clone_clone_7'>
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<pose frame=''>7.29281 3.19741 0 0 -0 -0.852605</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>1.40589 6.93624 0 0 -0 -2.28898</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>0.806278 6.57301 0 0 -0 -2.81258</pose>
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<pose frame=''>3.03213 15.1564 0 0 -0 -3.07438</pose>
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<pose frame=''>0.297729 5.89607 0 0 -0 -1.76537</pose>
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<pose frame=''>1.58263 14.1771 0 0 -0 -0.979985</pose>
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|
<link name='Wall_54'>
|
|
<pose frame=''>5.81764 5.8893 0 0 -0 1.79634</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_56'>
|
|
<pose frame=''>4.09799 1.12226 0 0 -0 0.85261</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_57'>
|
|
<pose frame=''>3.84351 2.11925 0 0 -0 2.42341</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_58'>
|
|
<pose frame=''>2.60257 1.78364 0 0 -0 -2.28898</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_59'>
|
|
<pose frame=''>2.91907 0.918634 0 0 -0 -0.718185</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_6'>
|
|
<pose frame=''>1.7722 14.9467 0 0 -0 -2.81258</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_61'>
|
|
<pose frame=''>4.03593 12.1795 0 0 -0 0.85261</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_62'>
|
|
<pose frame=''>4.88798 12.2518 0 0 -0 2.30944</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_63'>
|
|
<pose frame=''>4.67139 11.3486 0 0 -0 -2.28898</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_64'>
|
|
<pose frame=''>3.88252 11.3562 0 0 -0 -0.979985</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_65'>
|
|
<pose frame=''>8.82784 10.2194 0 0 -0 0.29137</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<pose frame=''>1.5185 13.188 0 0 -0 -2.53424</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>-0.443577 0.383353 32.1569 0 1.4098 1.89993</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
<model name='room5'>
|
|
<link name='Wall_0'>
|
|
<pose frame=''>-0.183506 -7.97438 0 0 0 -1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_0_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_0_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_1'>
|
|
<pose frame=''>0.328993 -8.34245 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_1_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_1_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_11'>
|
|
<pose frame=''>-1.28949 -7.36692 0 0 -0 2.87979</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_11_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_11_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_12'>
|
|
<pose frame=''>-2.44915 -2.83372 0 0 -0 0.523599</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_12_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_12_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_13'>
|
|
<pose frame=''>-2.51054 -6.65573 0 0 -0 2.0944</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_13_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_13_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_16'>
|
|
<pose frame=''>-3.8903 -5.15429 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_16_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_16_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_17'>
|
|
<pose frame=''>-3.33996 -5.9042 0 0 -0 2.63004</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_17_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_17_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_18'>
|
|
<pose frame=''>-3.92963 -4.40416 0 0 -0 1.58659</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_18_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_18_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_2'>
|
|
<pose frame=''>1.40173 -8.13539 0 0 -0 0.261799</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_2_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_2_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_20'>
|
|
<pose frame=''>-1.49461 -1.95686 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_20_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_20_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_21'>
|
|
<pose frame=''>-3.77154 -3.72157 0 0 -0 1.16555</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_21_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_21_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_23'>
|
|
<pose frame=''>-0.971243 -0.724123 0 0 -0 1.18423</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_23_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_23_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_24'>
|
|
<pose frame=''>-1.05323 0.370394 0 0 -0 2.35619</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_24_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_24_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_25'>
|
|
<pose frame=''>-1.76805 0.819479 0 0 -0 2.87979</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_25_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_25_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_26'>
|
|
<pose frame=''>-1.64353 1.03326 0 0 -0 0.261799</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_26_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_26_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_3'>
|
|
<pose frame=''>2.38698 -7.56027 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_3_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_3_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_32'>
|
|
<pose frame=''>5.28652 -3.58139 0 0 -0 1.07102</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_32_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_32_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_33'>
|
|
<pose frame=''>5.99667 -0.885929 0 0 -0 1.8326</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_33_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_33_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_34'>
|
|
<pose frame=''>5.03984 0.226363 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_34_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_34_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_35'>
|
|
<pose frame=''>6.08077 -2.2305 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_35_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_35_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_36'>
|
|
<pose frame=''>3.91729 0.265768 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_36_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_36_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37'>
|
|
<pose frame=''>3.25761 0.842357 0 0 -0 2.0944</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone'>
|
|
<pose frame=''>5.05026 -3.21576 0 0 0 -0.85261</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone'>
|
|
<pose frame=''>-1.0031 -1.17645 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_0'>
|
|
<pose frame=''>1.55945 9.7192 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_1'>
|
|
<pose frame=''>-3.00765 8.25193 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_2'>
|
|
<pose frame=''>4.01832 4.61639 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_3'>
|
|
<pose frame=''>3.13462 1.69174 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_4'>
|
|
<pose frame=''>5.81387 -1.05436 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_5'>
|
|
<pose frame=''>1.35514 -7.85963 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_6'>
|
|
<pose frame=''>-0.965722 0.949725 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_37_clone_clone_7'>
|
|
<pose frame=''>-3.24115 3.89196 0 0 -0 2.48357</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_37_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_38'>
|
|
<pose frame=''>3.25761 1.36197 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_38_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_38_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_39'>
|
|
<pose frame=''>3.77567 1.83428 0 0 -0 0.523599</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_39_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_39_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_4'>
|
|
<pose frame=''>3.25148 -7.01751 0 0 -0 0.261799</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_4_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_4_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_40'>
|
|
<pose frame=''>4.14373 2.59678 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_40_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_40_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_41'>
|
|
<pose frame=''>3.77567 3.35928 0 0 -0 2.61799</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_41_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_41_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_42'>
|
|
<pose frame=''>4.96556 5.63009 0 0 -0 1.59627</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_42_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_42_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_43'>
|
|
<pose frame=''>4.05178 4.29362 0 0 -0 0.523599</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_43_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_43_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_44'>
|
|
<pose frame=''>5.71742 8.7902 0 0 -0 2.35619</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_44_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_44_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_45'>
|
|
<pose frame=''>5.74153 7.27704 0 0 -0 0.875381</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_45_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_45_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_46'>
|
|
<pose frame=''>3.99311 9.72466 0 0 -0 2.87979</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_46_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_46_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_47'>
|
|
<pose frame=''>0.765407 10.0627 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_47_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_47_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_48'>
|
|
<pose frame=''>-2.51161 9.03729 0 0 0 -2.41977</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_48_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_48_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_49'>
|
|
<pose frame=''>-4.79774 5.36141 0 0 0 -0.5236</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_49_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_49_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_5'>
|
|
<pose frame=''>4.48426 -5.77637 0 0 -0 2.35619</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_5_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_5_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_50'>
|
|
<pose frame=''>-4.09023 7.35677 0 0 0 -2.0944</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_50_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_50_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_51'>
|
|
<pose frame=''>-3.51953 3.90576 0 0 0 -1.1821</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_51_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_51_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_52'>
|
|
<pose frame=''>-5.23027 6.06775 0 0 0 -2.35619</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_52_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_52_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_53'>
|
|
<pose frame=''>-2.23543 2.35912 0 0 0 -0.523599</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_53_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_53_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_54'>
|
|
<pose frame=''>-1.27332 1.53611 0 0 0 -1.15067</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_54_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.939679 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_54_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.939679 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_56'>
|
|
<pose frame=''>-0.507863 6.5457 0 0 0 -2.0944</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_56_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_56_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_57'>
|
|
<pose frame=''>-0.065412 5.61672 0 0 0 -0.5236</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_57_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_57_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_58'>
|
|
<pose frame=''>1.08722 6.18595 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_58_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_58_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_59'>
|
|
<pose frame=''>0.609436 6.97343 0 0 -0 2.61799</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_59_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_59_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_6'>
|
|
<pose frame=''>4.44709 -6.56815 0 0 -0 0.523599</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_6_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_6_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_61'>
|
|
<pose frame=''>1.69102 -4.29087 0 0 0 -2.0944</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_61_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_61_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_62'>
|
|
<pose frame=''>0.869031 -4.52659 0 0 0 -0.637566</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_62_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_62_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_63'>
|
|
<pose frame=''>0.906897 -3.59855 0 0 -0 1.0472</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_63_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_63_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_64'>
|
|
<pose frame=''>1.68234 -3.45343 0 0 -0 2.35619</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_64_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_64_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_65'>
|
|
<pose frame=''>-3.38946 -3.2943 0 0 0 -2.65564</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_65_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.603708 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_65_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.603708 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<pose frame=''>4.35594 -4.79355 0 0 -0 0.801934</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_9_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<static>1</static>
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
<pose frame=''>1.67578 5.00079 0 0 -0 2.94701</pose>
|
|
</model>
|
|
</world>
|
|
</sdf>
|