2020-11-05 20:05:04 +08:00
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<?xml version="1.0" ?>
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2020-03-23 16:09:44 +08:00
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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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2020-05-28 17:43:19 +08:00
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2020-03-23 16:09:44 +08:00
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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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2020-05-28 17:43:19 +08:00
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2020-03-23 16:09:44 +08:00
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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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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics name='default_physics' default='0' type='ode'>
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2020-05-02 18:19:55 +08:00
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<max_step_size>0.004</max_step_size>
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2020-03-23 16:09:44 +08:00
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<real_time_factor>1</real_time_factor>
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2020-05-02 18:19:55 +08:00
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<real_time_update_rate>250</real_time_update_rate>
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2020-03-23 16:09:44 +08:00
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<wind/>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<state world_name='default'>
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<sim_time>138 154000000</sim_time>
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<real_time>79 373321249</real_time>
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<wall_time>1582172604 368487821</wall_time>
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<iterations>78472</iterations>
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<model name='Untitled1111'>
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<pose frame=''>2.40305 0.669162 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='Wall_0'>
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<pose frame=''>-3.20041 -0.522718 0 0 -0 2.26915</pose>
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</link>
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<link name='Wall_1'>
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<pose frame=''>-3.95672 0.623759 0 0 -0 1.91127</pose>
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<pose frame=''>-0.23275 6.68795 0 0 0 -0.523599</pose>
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<link name='Wall_102'>
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<pose frame=''>17.8617 -1.03982 0 0 -0 1.309</pose>
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<link name='Wall_103'>
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<pose frame=''>18.2305 2.01162 0 0 -0 1.5708</pose>
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<pose frame=''>17.7323 5.54603 0 0 -0 1.8326</pose>
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<pose frame=''>17.234 8.70544 0 0 -0 1.5708</pose>
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<pose frame=''>17.3117 10.2952 0 0 -0 1.309</pose>
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<pose frame=''>17.1771 12.6091 0 0 -0 1.67529</pose>
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<pose frame=''>15.462 15.8529 0 0 -0 2.35619</pose>
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<pose frame=''>11.6547 16.5065 0 0 0 -2.82454</pose>
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<pose frame=''>6.64193 15.6574 0 0 -0 3.14159</pose>
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<link name='Wall_70'>
|
|
|
|
|
<pose frame=''>-6.4994 -4.18895 0 0 -0 2.35619</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_71'>
|
|
|
|
|
<pose frame=''>-7.10308 -2.38667 0 0 -0 1.33608</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_72'>
|
|
|
|
|
<pose frame=''>-7.20824 -0.163661 0 0 -0 1.8326</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_74'>
|
|
|
|
|
<pose frame=''>-6.78811 8.66541 0 0 -0 1.0472</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_75'>
|
|
|
|
|
<pose frame=''>-5.43618 10.8035 0 0 -0 0.881131</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_76'>
|
|
|
|
|
<pose frame=''>-5.7754 11.5362 0 0 -0 2.87979</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_77'>
|
|
|
|
|
<pose frame=''>-6.95866 11.6332 0 0 0 -2.87979</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_78'>
|
|
|
|
|
<pose frame=''>-8.54415 11.5232 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_79'>
|
|
|
|
|
<pose frame=''>-10.5501 10.6924 0 0 0 -2.35619</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_8'>
|
|
|
|
|
<pose frame=''>-0.81815 8.14195 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_80'>
|
|
|
|
|
<pose frame=''>-11.3809 8.56149 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_81'>
|
|
|
|
|
<pose frame=''>-11.3809 5.83649 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_82'>
|
|
|
|
|
<pose frame=''>-12.2135 3.6991 0 0 0 -2.43391</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_83'>
|
|
|
|
|
<pose frame=''>-13.7912 1.4436 0 0 0 -2.0944</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_84'>
|
|
|
|
|
<pose frame=''>-13.3903 -2.23649 0 0 0 -1.05033</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_85'>
|
|
|
|
|
<pose frame=''>-12.2988 -5.45199 0 0 0 -1.8326</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_86'>
|
|
|
|
|
<pose frame=''>-12.3547 -6.71406 0 0 0 -1.10884</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_87'>
|
|
|
|
|
<pose frame=''>-12.0213 -7.40363 0 0 0 -1.0472</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_89'>
|
|
|
|
|
<pose frame=''>-4.78642 -10.0941 0 0 -0 0.064767</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=''>-0.31785 7.48995 0 0 0 -1.8326</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_90'>
|
|
|
|
|
<pose frame=''>0.4375 -10.0023 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_92'>
|
|
|
|
|
<pose frame=''>7.58624 -10.448 0 0 0 -0.158534</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_93'>
|
|
|
|
|
<pose frame=''>8.92418 -10.4245 0 0 -0 0.261799</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_94'>
|
|
|
|
|
<pose frame=''>10.0318 -9.18803 0 0 -0 1.00434</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_95'>
|
|
|
|
|
<pose frame=''>11.1821 -8.70111 0 0 0 -1.0472</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_96'>
|
|
|
|
|
<pose frame=''>12.0584 -9.66894 0 0 0 -0.523599</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_97'>
|
|
|
|
|
<pose frame=''>13.7689 -9.23143 0 0 -0 0.523599</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_98'>
|
|
|
|
|
<pose frame=''>15.003 -7.84393 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='arrow_red'>
|
|
|
|
|
<pose frame=''>36.6649 4.22248 7.91441 -1.5795 -0 1.14284</pose>
|
|
|
|
|
<scale>1 1 1</scale>
|
|
|
|
|
<link name='link'>
|
|
|
|
|
<pose frame=''>36.6649 4.22248 7.91441 -1.48038 1.56205 -0.33674</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=''>21.513 -16.2476 65.7404 0 1.2418 1.6082</pose>
|
|
|
|
|
<view_controller>orbit</view_controller>
|
|
|
|
|
<projection_type>perspective</projection_type>
|
|
|
|
|
</camera>
|
|
|
|
|
</gui>
|
|
|
|
|
<model name='Untitled1111'>
|
|
|
|
|
<link name='Wall_0'>
|
|
|
|
|
<pose frame=''>-5.60346 -1.19188 0 0 -0 2.26915</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_0_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.13585 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_0_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.13585 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_1'>
|
|
|
|
|
<pose frame=''>-6.35977 -0.045403 0 0 -0 1.91127</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_1_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.856129 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_1_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.856129 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_10'>
|
|
|
|
|
<pose frame=''>-2.6358 6.01879 0 0 0 -0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_10_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_10_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_102'>
|
|
|
|
|
<pose frame=''>15.4586 -1.70898 0 0 -0 1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_102_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_102_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_103'>
|
|
|
|
|
<pose frame=''>15.8274 1.34246 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_103_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_103_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_104'>
|
|
|
|
|
<pose frame=''>15.3292 4.87687 0 0 -0 1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_104_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_104_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_105'>
|
|
|
|
|
<pose frame=''>14.831 8.03628 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_105_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_105_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_106'>
|
|
|
|
|
<pose frame=''>14.9086 9.62606 0 0 -0 1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_106_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_106_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_107'>
|
|
|
|
|
<pose frame=''>14.774 11.9399 0 0 -0 1.67529</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_107_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.22037 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_107_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.22037 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_108'>
|
|
|
|
|
<pose frame=''>13.059 15.1837 0 0 -0 2.35619</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_108_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_108_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_109'>
|
|
|
|
|
<pose frame=''>9.25161 15.8373 0 0 0 -2.82454</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_109_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.59694 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_109_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.59694 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_11'>
|
|
|
|
|
<pose frame=''>-2.65099 5.39248 0 0 0 -2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_11_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_11_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_110'>
|
|
|
|
|
<pose frame=''>4.23888 14.9882 0 0 -0 3.14159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_110_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_110_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_112'>
|
|
|
|
|
<pose frame=''>-13.2085 17.0795 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_112_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_112_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_113'>
|
|
|
|
|
<pose frame=''>-17.5992 14.7841 0 0 0 -2.28433</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_113_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.56448 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_113_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.56448 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_114'>
|
|
|
|
|
<pose frame=''>-19.736 13.7028 0 0 -0 2.61799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_114_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>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_114_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_115'>
|
|
|
|
|
<pose frame=''>-20.2762 12.5425 0 0 0 -1.14016</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_115_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.99669 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_115_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.99669 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_116'>
|
|
|
|
|
<pose frame=''>-20.6372 6.01657 0 0 0 -1.80973</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_116_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.98588 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_116_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.98588 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_118'>
|
|
|
|
|
<pose frame=''>-21.3942 -6.83376 0 0 0 -1.36735</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_118_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.17727 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_118_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.17727 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_119'>
|
|
|
|
|
<pose frame=''>-19.8374 -10.7977 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_119_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_119_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_12'>
|
|
|
|
|
<pose frame=''>-2.75032 5.05347 0 0 -0 0.663411</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_12_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.595922 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_12_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.595922 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_120'>
|
|
|
|
|
<pose frame=''>-17.2368 -13.6271 0 0 0 -0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_120_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_120_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_121'>
|
|
|
|
|
<pose frame=''>-14.6018 -15.649 0 0 0 -0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_121_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_121_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_122'>
|
|
|
|
|
<pose frame=''>-10.4924 -16.8334 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_122_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_122_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_123'>
|
|
|
|
|
<pose frame=''>-6.55315 -16.5616 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_123_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_123_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_125'>
|
|
|
|
|
<pose frame=''>2.93183 -16.8951 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_125_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_125_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_126'>
|
|
|
|
|
<pose frame=''>5.30143 -16.2622 0 0 -0 0.070665</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_126_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.41503 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_126_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.41503 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_127'>
|
|
|
|
|
<pose frame=''>8.03326 -15.6546 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_127_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_127_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_128'>
|
|
|
|
|
<pose frame=''>11.8728 -15.5576 0 0 0 -0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_128_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_128_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_129'>
|
|
|
|
|
<pose frame=''>15.1703 -15.1234 0 0 -0 0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_129_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_129_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_13'>
|
|
|
|
|
<pose frame=''>-1.73967 5.15579 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_13_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_13_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_130'>
|
|
|
|
|
<pose frame=''>17.6592 -12.7729 0 0 -0 1.00068</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_130_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.59625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_130_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.59625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_131'>
|
|
|
|
|
<pose frame=''>19.3275 -10.4914 0 0 -0 0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_131_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>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_131_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_133'>
|
|
|
|
|
<pose frame=''>21.9164 -2.75419 0 0 -0 1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_133_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_133_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_134'>
|
|
|
|
|
<pose frame=''>22.5764 1.50892 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_134_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_134_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_135'>
|
|
|
|
|
<pose frame=''>22.5764 5.10892 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_135_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_135_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_136'>
|
|
|
|
|
<pose frame=''>21.3036 8.18172 0 0 -0 2.35619</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_136_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_136_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_137'>
|
|
|
|
|
<pose frame=''>20.0308 10.8795 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_137_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_137_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_138'>
|
|
|
|
|
<pose frame=''>20.2433 12.6726 0 0 -0 1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_138_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_138_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_14'>
|
|
|
|
|
<pose frame=''>-0.672263 5.25149 0 0 -0 0.198157</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_14_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.766849 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_14_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.766849 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_143'>
|
|
|
|
|
<pose frame=''>10.9695 -7.57991 0 0 0 -0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_143_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>10.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_143_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>10.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_145'>
|
|
|
|
|
<pose frame=''>-5.00108 -8.43338 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_145_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_145_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_148'>
|
|
|
|
|
<pose frame=''>-18.65 23.7042 0 0 -0 2.99721</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_148_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_148_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_149'>
|
|
|
|
|
<pose frame=''>-23.9657 21.9231 0 0 0 -2.19204</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_149_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.96166 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_149_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.96166 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_15'>
|
|
|
|
|
<pose frame=''>-0.080096 5.38985 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_15_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_15_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_150'>
|
|
|
|
|
<pose frame=''>-28.6031 18.7708 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_150_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_150_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_151'>
|
|
|
|
|
<pose frame=''>-31.5491 14.3064 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_151_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_151_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_152'>
|
|
|
|
|
<pose frame=''>-29.5693 8.65152 0 0 0 -0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_152_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_152_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_153'>
|
|
|
|
|
<pose frame=''>-28.864 1.91444 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_153_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>10 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_153_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>10 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_154'>
|
|
|
|
|
<pose frame=''>-31.1546 -6.63401 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_154_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>8 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_154_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>8 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_155'>
|
|
|
|
|
<pose frame=''>-30.3954 -13.4997 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_155_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_155_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_156'>
|
|
|
|
|
<pose frame=''>-25.4915 -19.703 0 0 0 -0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_156_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_156_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_157'>
|
|
|
|
|
<pose frame=''>-18.5626 -22.8319 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_157_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_157_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_158'>
|
|
|
|
|
<pose frame=''>-10.3676 -24.0096 0 0 0 -0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_158_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_158_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_159'>
|
|
|
|
|
<pose frame=''>-5.75578 -20.7385 0 0 -0 1.52209</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_159_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.05788 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_159_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.05788 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_16'>
|
|
|
|
|
<pose frame=''>0.6202 5.3575 0 0 0 -0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_16_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_16_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_161'>
|
|
|
|
|
<pose frame=''>-8.34749 24.8776 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_161_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>14 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_161_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>14 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_162'>
|
|
|
|
|
<pose frame=''>4.1854 25.104 0 0 0 -0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_162_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>12.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_162_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>12.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_163'>
|
|
|
|
|
<pose frame=''>13.6998 24.5217 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_163_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_163_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_164'>
|
|
|
|
|
<pose frame=''>19.7127 24.8776 0 0 0 -0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_164_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_164_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_165'>
|
|
|
|
|
<pose frame=''>24.5653 21.7397 0 0 0 -0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_165_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_165_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_166'>
|
|
|
|
|
<pose frame=''>28.413 16.9129 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_166_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_166_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_167'>
|
|
|
|
|
<pose frame=''>30.9605 10.0805 0 0 0 -1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_167_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_167_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_168'>
|
|
|
|
|
<pose frame=''>30.4579 2.59871 0 0 0 -2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_168_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_168_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_168_clone'>
|
|
|
|
|
<pose frame=''>33.5672 -0.785047 0 0 0 -2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_168_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_168_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_17'>
|
|
|
|
|
<pose frame=''>1.24322 4.87944 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_17_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_17_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_170'>
|
|
|
|
|
<pose frame=''>30.8852 -7.7736 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_170_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>8.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_170_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>8.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_171'>
|
|
|
|
|
<pose frame=''>29.1123 -14.3902 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_171_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_171_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_172'>
|
|
|
|
|
<pose frame=''>27.2398 -18.9534 0 0 0 -2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_172_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_172_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_173'>
|
|
|
|
|
<pose frame=''>20.7872 -22.4576 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_173_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_173_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_174'>
|
|
|
|
|
<pose frame=''>10.3069 -25.2658 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_174_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_174_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_175'>
|
|
|
|
|
<pose frame=''>-0.358273 -26.6699 0 0 -0 3.14159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_175_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_175_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>11 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_176'>
|
|
|
|
|
<pose frame=''>-5.78327 -25.6199 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_176_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_176_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_18'>
|
|
|
|
|
<pose frame=''>1.98698 4.65373 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_18_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_18_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_180'>
|
|
|
|
|
<pose frame=''>16.1678 -12.1651 0 0 0 -0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_180_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_180_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_182'>
|
|
|
|
|
<pose frame=''>0.624028 19.2141 0 0 -0 0.136321</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_182_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.92535 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_182_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>9.92535 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_183'>
|
|
|
|
|
<pose frame=''>8.70454 17.7279 0 0 0 -0.618316</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_183_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.56963 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_183_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>7.56963 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_2'>
|
|
|
|
|
<pose frame=''>-6.27387 0.870109 0 0 -0 1.33825</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_2_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.45701 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_2_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.45701 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_21'>
|
|
|
|
|
<pose frame=''>2.50556 4.7383 0 0 0 -1.63384</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_21_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.84484 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_21_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.84484 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_3'>
|
|
|
|
|
<pose frame=''>-5.99948 1.9931 0 0 -0 1.25423</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_3_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.28706 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_3_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.28706 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_30'>
|
|
|
|
|
<pose frame=''>-2.46568 1.63142 0 0 0 -2.0319</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_30_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.26072 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_30_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.26072 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_31'>
|
|
|
|
|
<pose frame=''>-2.65958 0.834061 0 0 0 -1.08187</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_31_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.829625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_31_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.829625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_32'>
|
|
|
|
|
<pose frame=''>-2.31378 0.321863 0 0 0 -0.516701</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_32_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.578318 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_32_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.578318 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_33'>
|
|
|
|
|
<pose frame=''>-1.85365 0.367748 0 0 -0 0.292428</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_33_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.833247 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_33_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.833247 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_34'>
|
|
|
|
|
<pose frame=''>-0.874534 0.21533 0 0 0 -0.367349</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_34_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.54722 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_34_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.54722 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_35'>
|
|
|
|
|
<pose frame=''>0.702466 0.01763 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_35_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_35_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_36'>
|
|
|
|
|
<pose frame=''>2.55247 0.390033 0 0 -0 0.431231</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_36_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.18643 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_36_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.18643 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_37'>
|
|
|
|
|
<pose frame=''>4.12947 0.990339 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_37_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_37_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_38'>
|
|
|
|
|
<pose frame=''>5.07124 1.24269 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_38_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_38_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_39'>
|
|
|
|
|
<pose frame=''>5.78602 1.32033 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_39_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_39_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_4'>
|
|
|
|
|
<pose frame=''>-7.02821 3.14773 0 0 -0 2.70325</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_4_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.60887 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_4_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.60887 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_40'>
|
|
|
|
|
<pose frame=''>6.35337 1.85159 0 0 -0 1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_40_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_40_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_41'>
|
|
|
|
|
<pose frame=''>6.49572 3.18285 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_41_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_41_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_42'>
|
|
|
|
|
<pose frame=''>6.28322 4.35091 0 0 -0 2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_42_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_42_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_43'>
|
|
|
|
|
<pose frame=''>6.14837 5.00875 0 0 -0 1.309</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_43_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_43_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_44'>
|
|
|
|
|
<pose frame=''>6.50101 5.77484 0 0 -0 1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_44_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_44_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_45'>
|
|
|
|
|
<pose frame=''>6.51621 6.40116 0 0 -0 2.61799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_45_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_45_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_46'>
|
|
|
|
|
<pose frame=''>5.88834 6.76366 0 0 -0 2.61799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_46_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_46_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_47'>
|
|
|
|
|
<pose frame=''>5.73241 7.18829 0 0 -0 0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_47_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_47_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_48'>
|
|
|
|
|
<pose frame=''>6.24506 7.70094 0 0 -0 0.785398</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_48_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_48_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_49'>
|
|
|
|
|
<pose frame=''>5.69862 8.75263 0 0 -0 2.41606</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_49_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.41415 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_49_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.41415 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_5'>
|
|
|
|
|
<pose frame=''>-7.37481 4.55469 0 0 -0 0.852123</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_5_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.66455 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_5_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.66455 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_50'>
|
|
|
|
|
<pose frame=''>3.20605 8.94488 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_50_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_50_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_51'>
|
|
|
|
|
<pose frame=''>1.17871 9.32323 0 0 -0 1.82556</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_51_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.70245 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_51_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.70245 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_52'>
|
|
|
|
|
<pose frame=''>-0.25176 11.1535 0 0 -0 2.38443</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_52_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.29205 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_52_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.29205 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_53'>
|
|
|
|
|
<pose frame=''>-1.65181 11.9908 0 0 0 -2.51542</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_53_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.39492 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_53_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.39492 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_56'>
|
|
|
|
|
<pose frame=''>8.43524 11.5309 0 0 0 -0.320883</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_56_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.10173 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_56_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.10173 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_57'>
|
|
|
|
|
<pose frame=''>9.46339 11.1133 0 0 0 -0.517838</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_57_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.23085 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_57_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.23085 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_58'>
|
|
|
|
|
<pose frame=''>10.2409 9.40942 0 0 0 -1.46941</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_58_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.03755 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_58_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.03755 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_59'>
|
|
|
|
|
<pose frame=''>10.387 6.92306 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_59_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_59_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_6'>
|
|
|
|
|
<pose frame=''>-5.9921 6.055 0 0 -0 0.784425</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_6_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5452 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_6_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5452 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_60'>
|
|
|
|
|
<pose frame=''>10.387 3.82306 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_60_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_60_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>4.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_61'>
|
|
|
|
|
<pose frame=''>10.0829 0.638094 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_61_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>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>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_61_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_62'>
|
|
|
|
|
<pose frame=''>9.30151 -0.974166 0 0 0 -2.35619</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_62_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_62_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_63'>
|
|
|
|
|
<pose frame=''>8.66154 -2.76517 0 0 0 -1.69399</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_63_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.79748 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_63_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.79748 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_64'>
|
|
|
|
|
<pose frame=''>5.61107 -3.97248 0 0 -0 3.14159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_64_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_64_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_65'>
|
|
|
|
|
<pose frame=''>1.61699 -3.46708 0 0 -0 2.76162</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_65_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.44907 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_65_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.44907 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_66'>
|
|
|
|
|
<pose frame=''>0.085102 -3.78028 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_66_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_66_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_67'>
|
|
|
|
|
<pose frame=''>-0.657989 -5.41933 0 0 0 -2.37612</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_67_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.21112 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_67_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.21112 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_68'>
|
|
|
|
|
<pose frame=''>-3.20108 -6.19456 0 0 -0 3.14159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_68_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_68_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_69'>
|
|
|
|
|
<pose frame=''>-6.6268 -5.82071 0 0 -0 2.95159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_69_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.46102 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_69_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.46102 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_7'>
|
|
|
|
|
<pose frame=''>-4.69728 7.01029 0 0 -0 0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_7_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_7_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_70'>
|
|
|
|
|
<pose frame=''>-8.90245 -4.85811 0 0 -0 2.35619</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_70_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_70_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_71'>
|
|
|
|
|
<pose frame=''>-9.50613 -3.05583 0 0 -0 1.33608</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_71_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.13914 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_71_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.13914 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_72'>
|
|
|
|
|
<pose frame=''>-9.61129 -0.832823 0 0 -0 1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_72_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_72_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_74'>
|
|
|
|
|
<pose frame=''>-9.19116 7.99625 0 0 -0 1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_74_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_74_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_75'>
|
|
|
|
|
<pose frame=''>-7.83923 10.1343 0 0 -0 0.881131</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_75_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.51268 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_75_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.51268 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_76'>
|
|
|
|
|
<pose frame=''>-8.17845 10.867 0 0 -0 2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_76_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_76_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_77'>
|
|
|
|
|
<pose frame=''>-9.36171 10.964 0 0 0 -2.87979</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_77_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_77_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_78'>
|
|
|
|
|
<pose frame=''>-10.9472 10.854 0 0 -0 3.14159</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_78_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>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_78_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_79'>
|
|
|
|
|
<pose frame=''>-12.9531 10.0232 0 0 0 -2.35619</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_79_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>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_79_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_8'>
|
|
|
|
|
<pose frame=''>-3.2212 7.47279 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_8_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_8_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_80'>
|
|
|
|
|
<pose frame=''>-13.7839 7.89233 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_80_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/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_80_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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_81'>
|
|
|
|
|
<pose frame=''>-13.7839 5.16733 0 0 0 -1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_81_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_82'>
|
|
|
|
|
<pose frame=''>-14.6166 3.02994 0 0 0 -2.43391</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_82_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.3417 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>2.3417 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_83'>
|
|
|
|
|
<pose frame=''>-16.1943 0.77444 0 0 0 -2.0944</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_83_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_83_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_84'>
|
|
|
|
|
<pose frame=''>-15.7934 -2.90565 0 0 0 -1.05033</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_84_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>5.50281 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>5.50281 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_85'>
|
|
|
|
|
<pose frame=''>-14.7019 -6.12115 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_85_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_85_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_86'>
|
|
|
|
|
<pose frame=''>-14.7578 -7.38322 0 0 0 -1.10884</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_86_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.973489 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_86_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.973489 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_87'>
|
|
|
|
|
<pose frame=''>-14.4243 -8.07279 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_87_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>0.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_89'>
|
|
|
|
|
<pose frame=''>-7.18947 -10.7633 0 0 -0 0.064767</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_89_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.76699 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_89_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>6.76699 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_9'>
|
|
|
|
|
<pose frame=''>-2.7209 6.82079 0 0 0 -1.8326</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_9_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_9_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_90'>
|
|
|
|
|
<pose frame=''>-1.96555 -10.6715 0 0 -0 0</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_90_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>3.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_92'>
|
|
|
|
|
<pose frame=''>5.18319 -11.1172 0 0 0 -0.158534</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_92_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.92065 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>1.92065 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_93'>
|
|
|
|
|
<pose frame=''>6.52113 -11.0937 0 0 -0 0.261799</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_93_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>1 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_94'>
|
|
|
|
|
<pose frame=''>7.62875 -9.85719 0 0 -0 1.00434</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_94_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>2.94625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_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>2.94625 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_95'>
|
|
|
|
|
<pose frame=''>8.77905 -9.37027 0 0 0 -1.0472</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_95_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_95_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.75 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_96'>
|
|
|
|
|
<pose frame=''>9.65536 -10.3381 0 0 0 -0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_96_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_96_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.25 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_97'>
|
|
|
|
|
<pose frame=''>11.3658 -9.90059 0 0 -0 0.523599</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_97_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_97_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>3 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<link name='Wall_98'>
|
|
|
|
|
<pose frame=''>12.5999 -8.51309 0 0 -0 1.5708</pose>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
<visual name='Wall_98_Visual'>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Bricks</name>
|
|
|
|
|
</script>
|
|
|
|
|
<ambient>1 1 1 1</ambient>
|
|
|
|
|
<shader type='pixel'/>
|
|
|
|
|
</material>
|
|
|
|
|
<meta>
|
|
|
|
|
<layer>0</layer>
|
|
|
|
|
</meta>
|
|
|
|
|
<transparency>0</transparency>
|
|
|
|
|
<cast_shadows>1</cast_shadows>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision name='Wall_98_Collision'>
|
|
|
|
|
<laser_retro>0</laser_retro>
|
|
|
|
|
<max_contacts>10</max_contacts>
|
|
|
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box>
|
|
|
|
|
<size>1.5 0.15 2.5</size>
|
|
|
|
|
</box>
|
|
|
|
|
</geometry>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
<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>
|
2020-05-28 17:43:19 +08:00
|
|
|
|
2020-03-23 16:09:44 +08:00
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<static>1</static>
|
|
|
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
|
|
|
<pose frame=''>2.40305 0.669162 0 0 -0 0</pose>
|
|
|
|
|
</model>
|
|
|
|
|
<model name='arrow_red'>
|
|
|
|
|
<pose frame=''>36.2268 4.42231 3 0 -0 0</pose>
|
|
|
|
|
<static>1</static>
|
|
|
|
|
<link name='link'>
|
|
|
|
|
<pose frame=''>0 0 0 1.57 -0 1.57</pose>
|
|
|
|
|
<visual name='visual'>
|
|
|
|
|
<geometry>
|
|
|
|
|
<polyline>
|
|
|
|
|
<point>3 0</point>
|
|
|
|
|
<point>0.6 -3</point>
|
|
|
|
|
<point>0.6 -1.6</point>
|
|
|
|
|
<point>-3 -1.6</point>
|
|
|
|
|
<point>-3 1.6</point>
|
|
|
|
|
<point>0.6 1.6</point>
|
|
|
|
|
<point>0.6 3</point>
|
|
|
|
|
<point>3 0</point>
|
|
|
|
|
<height>0.6</height>
|
|
|
|
|
</polyline>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material>
|
|
|
|
|
<script>
|
|
|
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
|
|
|
<name>Gazebo/Red</name>
|
|
|
|
|
</script>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<self_collide>0</self_collide>
|
|
|
|
|
<enable_wind>0</enable_wind>
|
|
|
|
|
<kinematic>0</kinematic>
|
|
|
|
|
</link>
|
|
|
|
|
</model>
|
|
|
|
|
</world>
|
|
|
|
|
</sdf>
|
