forked from xtdrone/XTDrone
2025 lines
58 KiB
XML
2025 lines
58 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version='1.6'>
|
|
<world name='default'>
|
|
<light name='sun' type='directional'>
|
|
<cast_shadows>1</cast_shadows>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<attenuation>
|
|
<range>1000</range>
|
|
<constant>0.9</constant>
|
|
<linear>0.01</linear>
|
|
<quadratic>0.001</quadratic>
|
|
</attenuation>
|
|
<direction>-0.5 0.1 -0.9</direction>
|
|
</light>
|
|
<model name='ground_plane'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>100</mu>
|
|
<mu2>50</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
</surface>
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
</model>
|
|
<physics name='default_physics' default='0' type='ode'>
|
|
<ode>
|
|
<solver>
|
|
<type>quick</type>
|
|
<iters>10</iters>
|
|
<sor>1.3</sor>
|
|
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
|
|
</solver>
|
|
<constraints>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
<contact_max_correcting_vel>100</contact_max_correcting_vel>
|
|
<contact_surface_layer>0.001</contact_surface_layer>
|
|
</constraints>
|
|
</ode>
|
|
<max_step_size>0.004</max_step_size>
|
|
<real_time_factor>1</real_time_factor>
|
|
<real_time_update_rate>250</real_time_update_rate>
|
|
</physics>
|
|
<gravity>0 0 -9.8066</gravity>
|
|
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
<atmosphere type='adiabatic'/>
|
|
<scene>
|
|
<ambient>0.4 0.4 0.4 1</ambient>
|
|
<background>0.7 0.7 0.7 1</background>
|
|
<shadows>1</shadows>
|
|
</scene>
|
|
<audio>
|
|
<device>default</device>
|
|
</audio>
|
|
<wind/>
|
|
<spherical_coordinates>
|
|
<surface_model>EARTH_WGS84</surface_model>
|
|
<latitude_deg>0</latitude_deg>
|
|
<longitude_deg>0</longitude_deg>
|
|
<elevation>0</elevation>
|
|
<heading_deg>0</heading_deg>
|
|
</spherical_coordinates>
|
|
<model name='House_Long_1'>
|
|
<pose frame=''>22.5145 -1.92317 0 0 -0 0</pose>
|
|
<link name='Wall_0'>
|
|
<collision name='Wall_0_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_0_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-20 0 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_1'>
|
|
<collision name='Wall_1_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>40.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_1_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>40.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-0 8 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_10'>
|
|
<collision name='Wall_10_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_10_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-9 -1 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_11'>
|
|
<collision name='Wall_11_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_11_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-8 0 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_12'>
|
|
<collision name='Wall_12_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_12_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-9 1 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_14'>
|
|
<collision name='Wall_14_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_14_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-10 -7 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_15'>
|
|
<collision name='Wall_15_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_15_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-9 -6 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_16'>
|
|
<collision name='Wall_16_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_16_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-8 -7 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_18'>
|
|
<collision name='Wall_18_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>4.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_18_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-3 6 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_19'>
|
|
<collision name='Wall_19_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_19_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-2 4 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_2'>
|
|
<collision name='Wall_2_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_2_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>20 0 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_20'>
|
|
<collision name='Wall_20_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>4.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_20_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-1 6 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_22'>
|
|
<collision name='Wall_22_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_22_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-3 -1 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_23'>
|
|
<collision name='Wall_23_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>5.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_23_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-0.5 -2 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_24'>
|
|
<collision name='Wall_24_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_24_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>2 -1 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_25'>
|
|
<collision name='Wall_25_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>5.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_25_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>5.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-0.5 0 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_27'>
|
|
<collision name='Wall_27_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_27_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-0 -7 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_28'>
|
|
<collision name='Wall_28_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_28_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>1 -6 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_29'>
|
|
<collision name='Wall_29_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_29_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>2 -7 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_3'>
|
|
<collision name='Wall_3_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>40.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_3_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>40.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-0 -8 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_31'>
|
|
<collision name='Wall_31_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_31_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>6 3.5 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_32'>
|
|
<collision name='Wall_32_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_32_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>7 2 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_33'>
|
|
<collision name='Wall_33_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_33_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>8 3.5 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_34'>
|
|
<collision name='Wall_34_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_34_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>7 5 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_36'>
|
|
<collision name='Wall_36_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_36_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>11 7 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_37'>
|
|
<collision name='Wall_37_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_37_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>12 6 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_38'>
|
|
<collision name='Wall_38_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_38_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>13 7 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_40'>
|
|
<collision name='Wall_40_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_40_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>10 -3.5 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_41'>
|
|
<collision name='Wall_41_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_41_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>11 -5 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_42'>
|
|
<collision name='Wall_42_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_42_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>3.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>12 -3.5 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_43'>
|
|
<collision name='Wall_43_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_43_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>11 -2 0 0 -0 3.14159</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_45'>
|
|
<collision name='Wall_45_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 0.05 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_45_Visual'>
|
|
<pose frame=''>0 0 0.05 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<ambient>0.435294 0.796078 0.67451 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-14 0 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_47'>
|
|
<collision name='Wall_47_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 0.05 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_47_Visual'>
|
|
<pose frame=''>0 0 0.05 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>16.3 0.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<ambient>0.996078 0.47451 0.0196078 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>14 0 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_5'>
|
|
<collision name='Wall_5_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_5_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-10 7 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_6'>
|
|
<collision name='Wall_6_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_6_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-9 6 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_7'>
|
|
<collision name='Wall_7_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_7_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-8 7 0 0 -0 1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<collision name='Wall_9_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose frame=''>0 0 2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.3 0.3 4</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose frame=''>-10 0 0 0 -0 -1.5708</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<static>1</static>
|
|
</model>
|
|
<state world_name='default'>
|
|
<sim_time>309 360000000</sim_time>
|
|
<real_time>32 382264057</real_time>
|
|
<wall_time>1604576872 315799341</wall_time>
|
|
<iterations>8083</iterations>
|
|
<model name='House_Long_1'>
|
|
<pose frame=''>20 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='Wall_0'>
|
|
<pose frame=''>0 0 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_1'>
|
|
<pose frame=''>20 8 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_10'>
|
|
<pose frame=''>11 -1 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_11'>
|
|
<pose frame=''>12 -0 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_12'>
|
|
<pose frame=''>11 1 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_14'>
|
|
<pose frame=''>10 -7 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_15'>
|
|
<pose frame=''>11 -6 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_16'>
|
|
<pose frame=''>12 -7 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_18'>
|
|
<pose frame=''>17 6 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_19'>
|
|
<pose frame=''>18 4 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_2'>
|
|
<pose frame=''>40 -0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_20'>
|
|
<pose frame=''>19 6 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_22'>
|
|
<pose frame=''>17 -1 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_23'>
|
|
<pose frame=''>19.5 -2 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_24'>
|
|
<pose frame=''>22 -1 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_25'>
|
|
<pose frame=''>19.5 -0 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_27'>
|
|
<pose frame=''>20 -7 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_28'>
|
|
<pose frame=''>21 -6 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_29'>
|
|
<pose frame=''>22 -7 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_3'>
|
|
<pose frame=''>20 -8 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_31'>
|
|
<pose frame=''>26 3.5 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_32'>
|
|
<pose frame=''>27 2 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_33'>
|
|
<pose frame=''>28 3.5 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_34'>
|
|
<pose frame=''>27 5 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_36'>
|
|
<pose frame=''>31 7 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_37'>
|
|
<pose frame=''>32 6 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_38'>
|
|
<pose frame=''>33 7 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_40'>
|
|
<pose frame=''>30 -3.5 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_41'>
|
|
<pose frame=''>31 -5 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_42'>
|
|
<pose frame=''>32 -3.5 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_43'>
|
|
<pose frame=''>31 -2 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_45'>
|
|
<pose frame=''>6 -0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_47'>
|
|
<pose frame=''>34 -0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_5'>
|
|
<pose frame=''>10 7 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_6'>
|
|
<pose frame=''>11 6 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_7'>
|
|
<pose frame=''>12 7 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<pose frame=''>10 -0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='ground_plane'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>-31.8976 -15.8996 17.5005 0 0.458942 0.697384</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|