forked from xtdrone/XTDrone
6591 lines
214 KiB
XML
6591 lines
214 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/Grey</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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<physics name='default_physics' default='0' type='ode'>
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<real_time_update_rate>250</real_time_update_rate>
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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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<ode>
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<solver>
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<type>quick</type>
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<iters>150</iters>
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<precon_iters>0</precon_iters>
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<sor>1.4</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>1e-05</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>2000</contact_max_correcting_vel>
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<contact_surface_layer>0.01</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<model name='turtlebot3_house'>
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<link name='Wall_101'>
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<pose frame=''>-0.05 3.1 0 0 0 -1.5708</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<visual name='Wall_101_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.5 0.15 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<cast_shadows>1</cast_shadows>
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<transparency>0</transparency>
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</visual>
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<collision name='Wall_101_Collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.5 0.15 2.5</size>
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</box>
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</geometry>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</collision>
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<enable_wind>0</enable_wind>
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</link>
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<link name='Wall_104'>
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<pose frame=''>2.3 3.1 0 0 -0 1.5708</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<visual name='Wall_104_Visual_1'>
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<pose frame=''>2.11625 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.267504 0.15 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<cast_shadows>1</cast_shadows>
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<transparency>0</transparency>
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</visual>
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<visual name='Wall_104_Visual_2'>
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<pose frame=''>1.5325 0 2.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.15 0.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<cast_shadows>1</cast_shadows>
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<transparency>0</transparency>
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</visual>
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<visual name='Wall_104_Visual_0'>
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<pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>3.3325 0.15 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<cast_shadows>1</cast_shadows>
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<transparency>0</transparency>
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</visual>
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<collision name='Wall_104_Collision_1'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>2.11625 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.267504 0.15 2.5</size>
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</box>
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</geometry>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</collision>
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<collision name='Wall_104_Collision_2'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>1.5325 0 2.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.15 0.5</size>
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</box>
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</geometry>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</collision>
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<collision name='Wall_104_Collision_0'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>3.3325 0.15 2.5</size>
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</box>
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</geometry>
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|
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
|
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
|
|
<bullet>
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|
<split_impulse>1</split_impulse>
|
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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|
|
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</collision>
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<enable_wind>0</enable_wind>
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</link>
|
|
<link name='Wall_106'>
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<pose frame=''>6.2 -0.175 0 0 -0 0</pose>
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|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_106_Visual_1'>
|
|
<pose frame=''>0.922235 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.905529 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_106_Visual_2'>
|
|
<pose frame=''>0.019471 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_106_Visual_0'>
|
|
<pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.944471 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_106_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.922235 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.905529 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>
|
|
<collision name='Wall_106_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.944471 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>
|
|
<collision name='Wall_106_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.019471 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_108'>
|
|
<pose frame=''>-1.37512 -0.17488 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_108_Visual_0'>
|
|
<pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.78735 0.15 1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_108_Visual_1'>
|
|
<pose frame=''>3.34368 0 0.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.812647 0.15 1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_108_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>3.34368 0 0.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.812647 0.15 1</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>
|
|
<collision name='Wall_108_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.78735 0.15 1</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_81'>
|
|
<pose frame=''>5.07752 5.2688 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_81_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_81_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_82'>
|
|
<pose frame=''>1.25 5.26876 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_82_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_82_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_83'>
|
|
<pose frame=''>-2.475 5.275 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_83_Visual_2'>
|
|
<pose frame=''>0.110246 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.37052 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_6'>
|
|
<pose frame=''>1.39775 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20449 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_3'>
|
|
<pose frame=''>0.110246 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.37052 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_1'>
|
|
<pose frame=''>0.080993 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.83801 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_4'>
|
|
<pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.263 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_5'>
|
|
<pose frame=''>1.39775 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20449 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_83_Visual_0'>
|
|
<pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.161986 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_83_Collision_4'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.263 0.15 0.8</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>
|
|
<collision name='Wall_83_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.110246 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.37052 0.15 2</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>
|
|
<collision name='Wall_83_Collision_6'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.39775 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20449 0.15 0.8</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>
|
|
<collision name='Wall_83_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.161986 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>
|
|
<collision name='Wall_83_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.080993 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.83801 0.15 0.5</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>
|
|
<collision name='Wall_83_Collision_3'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.110246 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.37052 0.15 2</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>
|
|
<collision name='Wall_83_Collision_5'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.39775 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20449 0.15 0.8</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_84'>
|
|
<pose frame=''>-6.2 5.275 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_84_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_84_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_85'>
|
|
<pose frame=''>-7.5 3.1 0 0 0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_85_Visual_3'>
|
|
<pose frame=''>0.62212 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.332 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_85_Visual_2'>
|
|
<pose frame=''>1.76906 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.96188 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_85_Visual_0'>
|
|
<pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20612 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_85_Visual_1'>
|
|
<pose frame=''>1.10306 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.29388 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_85_Collision_3'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.62212 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.332 0.15 0.8</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>
|
|
<collision name='Wall_85_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.76906 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.96188 0.15 2</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>
|
|
<collision name='Wall_85_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.10306 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.29388 0.15 0.5</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>
|
|
<collision name='Wall_85_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.20612 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_86'>
|
|
<pose frame=''>-7.5 -1.5 0 0 0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_86_Visual_1'>
|
|
<pose frame=''>0.28462 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.43076 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_86_Visual_4'>
|
|
<pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.412 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_86_Visual_0'>
|
|
<pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.569241 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_86_Visual_5'>
|
|
<pose frame=''>1.22246 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.199 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_86_Visual_2'>
|
|
<pose frame=''>0.0521 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.14172 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_86_Visual_3'>
|
|
<pose frame=''>2.16098 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.678041 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_86_Collision_4'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.412 0.15 0.8</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>
|
|
<collision name='Wall_86_Collision_5'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.22246 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.199 0.15 0.8</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>
|
|
<collision name='Wall_86_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.0521 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.14172 0.15 2</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>
|
|
<collision name='Wall_86_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.28462 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.43076 0.15 0.5</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>
|
|
<collision name='Wall_86_Collision_3'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>2.16098 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.678041 0.15 2</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>
|
|
<collision name='Wall_86_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.569241 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_87'>
|
|
<pose frame=''>-6.325 -3.925 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_87_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_87_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.5 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_88'>
|
|
<pose frame=''>-5.15151 -1.49625 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_88_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_88_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_90'>
|
|
<pose frame=''>1.125 0.925 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_90_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.5 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_90_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.5 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_91'>
|
|
<pose frame=''>2.29994 0.37506 0 0 0 -1.57091</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_91_Visual_0'>
|
|
<pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.146998 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_91_Visual_2'>
|
|
<pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_91_Visual_1'>
|
|
<pose frame=''>0.523499 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.203002 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_91_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.146998 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>
|
|
<collision name='Wall_91_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.523499 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.203002 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>
|
|
<collision name='Wall_91_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_92'>
|
|
<pose frame=''>3.59994 -0.17494 0 0 0 -4.6e-05</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_92_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_92_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_93'>
|
|
<pose frame=''>4.9 -2.725 0 0 0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_93_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_93_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.25 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_94'>
|
|
<pose frame=''>6.2 -5.275 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_94_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_94_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_95'>
|
|
<pose frame=''>7.5 -2.725 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_95_Visual_1'>
|
|
<pose frame=''>0.295715 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.65857 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_95_Visual_2'>
|
|
<pose frame=''>-0.036959 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.27522 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_95_Visual_3'>
|
|
<pose frame=''>2.43783 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.374348 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_95_Visual_5'>
|
|
<pose frame=''>1.42565 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.65 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_95_Visual_4'>
|
|
<pose frame=''>-1.35407 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.359 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_95_Visual_0'>
|
|
<pose frame=''>-2.32929 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.591431 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_95_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.036959 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.27522 0.15 2</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>
|
|
<collision name='Wall_95_Collision_3'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>2.43783 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.374348 0.15 2</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>
|
|
<collision name='Wall_95_Collision_5'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.42565 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.65 0.15 0.8</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>
|
|
<collision name='Wall_95_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-2.32929 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.591431 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>
|
|
<collision name='Wall_95_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.295715 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.65857 0.15 0.5</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>
|
|
<collision name='Wall_95_Collision_4'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.35407 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.359 0.15 0.8</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_96'>
|
|
<pose frame=''>7.5 2.5 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_96_Visual_1'>
|
|
<pose frame=''>0.75174 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.99652 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_96_Visual_2'>
|
|
<pose frame=''>2.06924 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.36152 0.15 2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_96_Visual_3'>
|
|
<pose frame=''>0.070981 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.635 0.15 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_96_Visual_0'>
|
|
<pose frame=''>-1.99826 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.50348 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_96_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>2.06924 0 1.5 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.36152 0.15 2</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>
|
|
<collision name='Wall_96_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.99826 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.50348 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>
|
|
<collision name='Wall_96_Collision_3'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.070981 0 2.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.635 0.15 0.8</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>
|
|
<collision name='Wall_96_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.75174 0 0.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.99652 0.15 0.5</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_98'>
|
|
<pose frame=''>-6.325 0.925 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_98_Visual_2'>
|
|
<pose frame=''>0.015777 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_98_Visual_1'>
|
|
<pose frame=''>0.857889 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.784223 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_98_Visual_0'>
|
|
<pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.815777 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_98_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.815777 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>
|
|
<collision name='Wall_98_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.857889 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.784223 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>
|
|
<collision name='Wall_98_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.015777 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0.5</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='Wall_99'>
|
|
<pose frame=''>-5.15 3.1 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<visual name='Wall_99_Visual_0'>
|
|
<pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25768 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_99_Visual_2'>
|
|
<pose frame=''>0.215786 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.41621 0.15 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='Wall_99_Visual_1'>
|
|
<pose frame=''>1.83695 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.826108 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>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='Wall_99_Collision_0'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.25768 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>
|
|
<collision name='Wall_99_Collision_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.83695 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.826108 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>
|
|
<collision name='Wall_99_Collision_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.215786 0 2.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.41621 0.15 0.5</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<model name='Mailbox'>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://mailbox/meshes/mailbox.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://mailbox/meshes/mailbox.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://mailbox/materials/scripts</uri>
|
|
<uri>model://mailbox/materials/textures</uri>
|
|
<name>Mailbox/Diffuse</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>0.883462 -0.576236 0 0 0 -3.14159</pose>
|
|
</model>
|
|
<model name='bookshelf'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<collision name='back'>
|
|
<pose frame=''>0 0.005 0.6 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.01 1.2</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual1'>
|
|
<pose frame=''>0 0.005 0.6 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.01 1.2</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
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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/Wood</name>
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</script>
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</material>
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</visual>
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<collision name='bottom'>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.06</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='visual4'>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.06</size>
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</box>
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</geometry>
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<material>
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
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</material>
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</visual>
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<collision name='top'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='visual5'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
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</script>
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</material>
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</visual>
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<collision name='low_shelf'>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='visual6'>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
|
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
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</script>
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</material>
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</visual>
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<collision name='high_shelf'>
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<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='visual7'>
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<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</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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<pose frame=''>5.64449 5.17912 0 0 -0 0</pose>
|
|
</model>
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|
<model name='cabinet'>
|
|
<static>1</static>
|
|
<link name='cabinet_bottom_plate'>
|
|
<inertial>
|
|
<pose frame=''>0 0 -1 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>2.05</ixx>
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<ixy>0</ixy>
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|
<ixz>0</ixz>
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<iyy>2.05</iyy>
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|
<iyz>0</iyz>
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|
<izz>2.05</izz>
|
|
</inertia>
|
|
<mass>25</mass>
|
|
</inertial>
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<collision name='cabinet_bottom_plate_geom'>
|
|
<pose frame=''>0 0 0.01 0 -0 0</pose>
|
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<geometry>
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<box>
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|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='cabinet_bottom_plate_geom_visual'>
|
|
<pose frame=''>0 0 0.01 0 -0 0</pose>
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<geometry>
|
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<box>
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|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
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</material>
|
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</visual>
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<collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
|
|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
|
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<geometry>
|
|
<box>
|
|
<size>0.02 0.45 1.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
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|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.45 1.02</size>
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</box>
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</geometry>
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<material>
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
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</material>
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</visual>
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<collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
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|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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|
</torsional>
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<ode/>
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|
</friction>
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|
|
</collision>
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<visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
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|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
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<geometry>
|
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<box>
|
|
<size>0.45 0.02 1.02</size>
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</box>
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</geometry>
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<material>
|
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<script>
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|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
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</material>
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</visual>
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<collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
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<geometry>
|
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<box>
|
|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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|
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</collision>
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<visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
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|
<pose frame=''>0 0 0.51 0 -0 0</pose>
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<geometry>
|
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<box>
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|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<material>
|
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
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|
</material>
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</visual>
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<collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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|
</friction>
|
|
|
|
</collision>
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<visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
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<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
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</box>
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</geometry>
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<material>
|
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<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
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|
</material>
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</visual>
|
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<collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
|
|
<pose frame=''>0 0 1.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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|
</friction>
|
|
|
|
</collision>
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<visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
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|
<pose frame=''>0 0 1.01 0 -0 0</pose>
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<geometry>
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<box>
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|
<size>0.45 0.45 0.02</size>
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</box>
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</geometry>
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<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</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>
|
|
</link>
|
|
<pose frame=''>-5.472 -1.57624 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='cabinet_0'>
|
|
<static>1</static>
|
|
<link name='cabinet_bottom_plate'>
|
|
<inertial>
|
|
<pose frame=''>0 0 -1 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>2.05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>2.05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>2.05</izz>
|
|
</inertia>
|
|
<mass>25</mass>
|
|
</inertial>
|
|
<collision name='cabinet_bottom_plate_geom'>
|
|
<pose frame=''>0 0 0.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
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</geometry>
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|
<max_contacts>10</max_contacts>
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|
|
|
<contact>
|
|
<ode/>
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|
</contact>
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|
<bounce/>
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|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_visual'>
|
|
<pose frame=''>0 0 0.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
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|
</geometry>
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|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
|
|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.45 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
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|
</contact>
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|
<bounce/>
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|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
|
|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.45 1.02</size>
|
|
</box>
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|
</geometry>
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|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
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|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
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|
</contact>
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|
<bounce/>
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|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
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|
</geometry>
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|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
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|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
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|
</contact>
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|
<bounce/>
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|
<friction>
|
|
<torsional>
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|
<ode/>
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|
</torsional>
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|
<ode/>
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|
</friction>
|
|
|
|
</collision>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</model>
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<model name='cabinet_1'>
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<static>1</static>
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<link name='cabinet_bottom_plate'>
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<pose frame=''>0 0 -1 0 -0 0</pose>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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<geometry>
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<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<model name='cafe_table'>
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<max_contacts>10</max_contacts>
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<visual name='visual1'>
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<box>
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<size>1.4 0.8 0.04</size>
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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/Wood</name>
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</script>
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</material>
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<collision name='front_left_leg'>
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<pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
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<cylinder>
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<radius>0.02</radius>
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<ode/>
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<ode/>
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<visual name='front_left_leg'>
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<pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>1</length>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<collision name='front_right_leg'>
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<pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
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<cylinder>
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<ode/>
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<ode/>
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<visual name='front_right_leg'>
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<pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
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<geometry>
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<cylinder>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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<collision name='back_right_leg'>
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<pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
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<cylinder>
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<torsional>
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<ode/>
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<ode/>
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<visual name='back_right_leg'>
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<pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>1</length>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<collision name='back_left_leg'>
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<pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<friction>
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<torsional>
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<ode/>
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<ode/>
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<visual name='back_left_leg'>
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<pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
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<geometry>
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<cylinder>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1</mass>
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<pose frame=''>-2.65728 2.42376 0 0 -0 0</pose>
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</model>
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<model name='table_marble'>
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<static>1</static>
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<pose frame=''>4.88346 2.92577 0.648 0 -0 0</pose>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<mesh>
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<uri>model:///table_marble/meshes/table_lightmap.dae</uri>
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<scale>0.25 0.25 0.25</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://table_marble/meshes/table_lightmap.dae</uri>
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|
<scale>0.25 0.25 0.25</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://table_marble/materials/scripts</uri>
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<uri>model://table_marble/materials/textures</uri>
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<name>Table/Marble_Lightmap</name>
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</script>
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<lighting>0</lighting>
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</material>
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</visual>
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<kinematic>0</kinematic>
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</link>
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</model>
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<static>1</static>
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</model>
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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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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>13.7952 -5.23306 27.7557 0 1.11879 2.90959</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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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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<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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<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>60 284000000</sim_time>
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<real_time>62 29595063</real_time>
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<wall_time>1581322023 724636039</wall_time>
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<iterations>60284</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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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='turtlebot3_house'>
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<pose frame=''>2.22046 -3.7625 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='Wall_101'>
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<pose frame=''>2.17046 -0.662505 0 0 0 -1.5708</pose>
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<link name='Wall_104'>
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<pose frame=''>4.52046 -0.662505 0 0 -0 1.5708</pose>
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<link name='Wall_106'>
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<pose frame=''>8.42046 -3.9375 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_108'>
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<pose frame=''>0.845337 -3.93738 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_81'>
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<pose frame=''>7.29798 1.50629 0 0 -0 3.14159</pose>
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<link name='Wall_82'>
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<pose frame=''>3.47046 1.50625 0 0 -0 3.14159</pose>
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<link name='Wall_83'>
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<pose frame=''>-0.254543 1.51249 0 0 -0 3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_84'>
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<pose frame=''>-3.97954 1.51249 0 0 -0 3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_85'>
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<pose frame=''>-5.27954 -0.662505 0 0 0 -1.5708</pose>
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<link name='Wall_86'>
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<pose frame=''>-5.27954 -5.2625 0 0 0 -1.5708</pose>
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<pose frame=''>-4.10454 -7.6875 0 0 -0 0</pose>
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<link name='Wall_88'>
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<pose frame=''>-2.93105 -5.25875 0 0 -0 1.5708</pose>
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<link name='Wall_90'>
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<pose frame=''>3.34546 -2.83751 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>4.5204 -3.38745 0 0 0 -1.57091</pose>
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<link name='Wall_92'>
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<pose frame=''>5.8204 -3.93744 0 0 0 -4.6e-05</pose>
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<link name='Wall_93'>
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<pose frame=''>7.12046 -6.4875 0 0 0 -1.5708</pose>
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<link name='Wall_94'>
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<pose frame=''>8.42046 -9.0375 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_95'>
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<pose frame=''>9.72046 -6.4875 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_96'>
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<pose frame=''>9.72046 -1.2625 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_98'>
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<pose frame=''>-4.10454 -2.83751 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_99'>
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<pose frame=''>-2.92954 -0.662505 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<model name='Mailbox'>
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<pose frame=''>3.10392 -4.33874 0 0 0 -3.14159</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>3.10392 -4.33874 -1e-05 -1e-06 -0 -3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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</link>
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</model>
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<model name='bookshelf'>
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<pose frame=''>-4.32351 1.43236 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=''>-4.32351 1.43236 0 0 -0 0</pose>
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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='bookshelf_0'>
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<pose frame=''>6.94405 1.41671 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=''>6.94405 1.41671 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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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='bookshelf_1'>
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|
<pose frame=''>7.86495 1.41661 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=''>7.86495 1.41661 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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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='cabinet'>
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|
<pose frame=''>-3.25154 -5.33875 0 0 -0 0</pose>
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|
<scale>1 1 1</scale>
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|
<link name='cabinet_bottom_plate'>
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|
<pose frame=''>-3.25154 -5.33875 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='cabinet_0'>
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|
<pose frame=''>-3.25243 -5.82796 0 0 -0 0</pose>
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|
<scale>1 1 1</scale>
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<link name='cabinet_bottom_plate'>
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|
<pose frame=''>-3.25243 -5.82796 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='cabinet_1'>
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<pose frame=''>-4.96317 -2.51451 0 0 0 -1.5708</pose>
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<scale>1 1 1</scale>
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<link name='cabinet_bottom_plate'>
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<pose frame=''>-4.96317 -2.51451 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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