forked from xtdrone/XTDrone
95725 lines
3.1 MiB
95725 lines
3.1 MiB
<?xml version="1.0" ?>
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<sdf version='1.5'>
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<world name='default'>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>46.9439 -26.8589 6.90853 -0 0.125646 3.13697</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<scene>
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<grid>0</grid>
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<origin_visual>0</origin_visual>
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<ambient>0.592 0.624 0.635 1</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<background>0.35 0.35 0.35 1</background>
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<shadows>1</shadows>
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</scene>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
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</physics>
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<light name='sun' type='directional'>
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<pose frame=''>0 0 1000 0 -0 0</pose>
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<cast_shadows>1</cast_shadows>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.5 0.5 0.5 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 -0.4</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<max_contacts>10</max_contacts>
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</collision>
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<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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<actor name='actor'>
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<skin>
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<filename>walk.dae</filename>
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<scale>1</scale>
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</skin>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<animation name='walking'>
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<filename>walk.dae</filename>
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<scale>1</scale>
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<interpolate_x>1</interpolate_x>
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</animation>
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<script>
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<loop>1</loop>
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<delay_start>0</delay_start>
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<auto_start>1</auto_start>
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<trajectory id='0' type='walking' tension='0'>
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<waypoint>
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<time>0</time>
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<pose>0 3 0 0 -0 0</pose>
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</waypoint>
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<waypoint>
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<time>40</time>
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<pose>41 3 0 0 -0 0</pose>
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</waypoint>
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<waypoint>
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<time>41</time>
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<pose>41 3 0 0 -0 -1.57</pose>
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</waypoint>
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<waypoint>
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<time>107</time>
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<pose>41 -40 0 0 -0 -1.57</pose>
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</waypoint>
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<waypoint>
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<time>110</time>
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<pose>41 -40 0 0 -0 -3.1415</pose>
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</waypoint>
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<waypoint>
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<time>160</time>
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<pose>-8 -40 0 0 -0 -3.1415</pose>
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</waypoint>
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<waypoint>
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<time>160</time>
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<pose>-8 -40 0 0 -0 -4.7</pose>
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</waypoint>
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<waypoint>
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<time>230</time>
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<pose>-8 3 0 0 -0 -4.7</pose>
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</waypoint>
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<waypoint>
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<time>240</time>
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<pose>0 3 0 0 -0 0</pose>
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</waypoint>
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</trajectory>
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</script>
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<link name='actor_pose'>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<visual name='actor_visual'>
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<geometry>
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<mesh>
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<uri>walk.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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<enable_wind>0</enable_wind>
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<visual name='actor_visual'>
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<geometry>
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<mesh>
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<uri>walk.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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<visual name='actor_visual'>
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<geometry>
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<mesh>
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<uri>walk.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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<visual name='actor_visual'>
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<geometry>
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<mesh>
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<uri>walk.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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<visual name='actor_visual'>
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<geometry>
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<mesh>
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<uri>walk.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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</link>
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<link name='Hips'>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>4e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4e-05</iyy>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='Hips__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<radius>0.02</radius>
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</sphere>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>0 0 1 1</ambient>
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</material>
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</visual>
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<enable_wind>0</enable_wind>
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</link>
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<link name='LHipJoint'>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<pose frame=''>0 0 0 -1.96446 0.68846 -2.58604</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>4e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4e-05</iyy>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LHipJoint__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<radius>0.02</radius>
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</sphere>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>1 0 0 1</ambient>
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</material>
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</visual>
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<visual name='LHipJoint_LeftUpLeg__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<size>0.02 0.02 0.153556</size>
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</box>
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</geometry>
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<pose frame=''>-0 0.076778 0 -1.5708 -0.436252 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>0 1 0 1</ambient>
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</material>
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</visual>
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<collision name='LHipJoint_LeftUpLeg_collision'>
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<geometry>
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<box>
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<size>0.02 0.02 0.153556</size>
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</box>
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</geometry>
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<pose frame=''>-0 0.076778 0 -1.5708 -0.436252 0</pose>
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<max_contacts>10</max_contacts>
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|
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
|
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<ode/>
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</torsional>
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<ode/>
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</friction>
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|
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</collision>
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<enable_wind>0</enable_wind>
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</link>
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<link name='LeftUpLeg'>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<pose frame=''>0.045484 0.097562 -0.10951 -1.5708 -0.017454 -1.5708</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>4e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4e-05</iyy>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftUpLeg__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<radius>0.02</radius>
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</sphere>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>1 0 0 1</ambient>
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</material>
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</visual>
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<visual name='LeftUpLeg_LeftLeg__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<size>0.02 0.02 0.43615</size>
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</box>
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</geometry>
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<pose frame=''>-0 0.218075 -0 1.5708 -3e-06 -3.14159</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>0 1 0 1</ambient>
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</material>
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</visual>
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<collision name='LeftUpLeg_LeftLeg_collision'>
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<geometry>
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<box>
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<size>0.02 0.02 0.43615</size>
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</box>
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</geometry>
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<pose frame=''>-0 0.218075 -0 1.5708 -3e-06 -3.14159</pose>
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<max_contacts>10</max_contacts>
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|
|
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<contact>
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|
<ode/>
|
|
</contact>
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|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
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|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<enable_wind>0</enable_wind>
|
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</link>
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<link name='LeftLeg'>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<pose frame=''>0.045484 0.08995 -0.545594 -1.5708 -0.018883 -1.5708</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
|
|
<ixx>4e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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|
<iyy>4e-05</iyy>
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<iyz>0</iyz>
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|
<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftLeg__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<radius>0.02</radius>
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</sphere>
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</geometry>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>1 0 0 1</ambient>
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</material>
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</visual>
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<visual name='LeftLeg_LeftFoot__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<size>0.02 0.02 0.445971</size>
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</box>
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</geometry>
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<pose frame=''>0 0.222985 -0 1.5708 -2e-06 3.14159</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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|
</script>
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<ambient>0 1 0 1</ambient>
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|
</material>
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</visual>
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<collision name='LeftLeg_LeftFoot_collision'>
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<geometry>
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<box>
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<size>0.02 0.02 0.445971</size>
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|
</box>
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</geometry>
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<pose frame=''>0 0.222985 -0 1.5708 -2e-06 3.14159</pose>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='LeftFoot'>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<pose frame=''>0.045484 0.081529 -0.991485 -2.86201 -0.004819 1.5644</pose>
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|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>4e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>4e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>4e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='LeftFoot__SKELETON_VISUAL__'>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.02</radius>
|
|
</sphere>
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|
</geometry>
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|
<pose frame=''>0 0 0 0 -0 0</pose>
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|
<material>
|
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<script>
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|
<name>__default__</name>
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|
<uri>__default__</uri>
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|
</script>
|
|
<ambient>1 0 0 1</ambient>
|
|
</material>
|
|
</visual>
|
|
<visual name='LeftFoot_LeftToeBase__SKELETON_VISUAL__'>
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|
<geometry>
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|
<box>
|
|
<size>0.02 0.02 0.137078</size>
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|
</box>
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</geometry>
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<pose frame=''>0 0.068539 -0 1.57112 -1.56578 3.14127</pose>
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|
<material>
|
|
<script>
|
|
<name>__default__</name>
|
|
<uri>__default__</uri>
|
|
</script>
|
|
<ambient>0 1 0 1</ambient>
|
|
</material>
|
|
</visual>
|
|
<collision name='LeftFoot_LeftToeBase_collision'>
|
|
<geometry>
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|
<box>
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|
<size>0.02 0.02 0.137078</size>
|
|
</box>
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|
</geometry>
|
|
<pose frame=''>0 0.068539 -0 1.57112 -1.56578 3.14127</pose>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='LeftToeBase'>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<pose frame=''>0.177238 0.080868 -1.02931 3.14159 -0 1.5708</pose>
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|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>4e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>4e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>4e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='LeftToeBase__SKELETON_VISUAL__'>
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<visual name='RightUpLeg__SKELETON_VISUAL__'>
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<name>__default__</name>
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<visual name='RightUpLeg_RightLeg__SKELETON_VISUAL__'>
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<box>
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<ode/>
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<ode/>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RightLeg__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='RightLeg_RightFoot__SKELETON_VISUAL__'>
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<box>
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<box>
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<ode/>
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<ode/>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RightFoot__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<name>__default__</name>
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<ambient>1 0 0 1</ambient>
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<geometry>
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<box>
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<ambient>0 1 0 1</ambient>
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<collision name='RightFoot_RightToeBase_collision'>
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<geometry>
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<box>
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<ode/>
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<ode/>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<visual name='RightToeBase__SKELETON_VISUAL__'>
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<sphere>
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<pose frame=''>0 0 0 1.76781 -0.000162 1.57081</pose>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LowerBack__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='LowerBack_Spine__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<ambient>0 1 0 1</ambient>
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<geometry>
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<box>
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<ode/>
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<ode/>
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<pose frame=''>0.026286 -2.1e-05 0.131687 1.55532 0.026085 1.57059</pose>
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<izz>4e-05</izz>
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</inertial>
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<visual name='Spine__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<ambient>1 0 0 1</ambient>
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<visual name='Spine_Spine1__SKELETON_VISUAL__'>
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<visual name='Spine1__SKELETON_VISUAL__'>
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<gravity>0</gravity>
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<pose frame=''>0.024228 0.003447 0.264602 1.70269 0.004587 1.57496</pose>
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<visual name='Neck__SKELETON_VISUAL__'>
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<name>__default__</name>
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<visual name='LeftFoot_LeftToeBase__SKELETON_VISUAL__'>
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<box>
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<name>__default__</name>
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<box>
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<ode/>
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<ode/>
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</inertia>
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</inertial>
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<visual name='LeftToeBase__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<name>__default__</name>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RHipJoint__SKELETON_VISUAL__'>
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<sphere>
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<ode/>
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<ode/>
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</inertia>
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</inertial>
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<visual name='RightUpLeg__SKELETON_VISUAL__'>
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<sphere>
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<name>__default__</name>
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<ode/>
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<ode/>
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</inertia>
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</inertial>
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<visual name='RightLeg__SKELETON_VISUAL__'>
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<sphere>
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<name>__default__</name>
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<uri>__default__</uri>
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<ambient>1 0 0 1</ambient>
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<visual name='RightLeg_RightFoot__SKELETON_VISUAL__'>
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<ode/>
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<ode/>
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<izz>4e-05</izz>
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</inertia>
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<visual name='RightFoot__SKELETON_VISUAL__'>
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<visual name='RightFoot_RightToeBase__SKELETON_VISUAL__'>
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<box>
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<ode/>
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<ode/>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RightToeBase__SKELETON_VISUAL__'>
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<sphere>
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<link name='LowerBack'>
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<gravity>0</gravity>
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<box>
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<visual name='LeftShoulder__SKELETON_VISUAL__'>
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<sphere>
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<visual name='LeftArm__SKELETON_VISUAL__'>
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<visual name='LeftArm_LeftForeArm__SKELETON_VISUAL__'>
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<ambient>0 1 0 1</ambient>
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<ode/>
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<ode/>
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<izz>4e-05</izz>
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<visual name='LeftForeArm__SKELETON_VISUAL__'>
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</visual>
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<visual name='LeftForeArm_LeftHand__SKELETON_VISUAL__'>
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<collision name='LeftForeArm_LeftHand_collision'>
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<box>
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<name>__default__</name>
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</visual>
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<ode/>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftUpLeg__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<material>
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<script>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>1 0 0 1</ambient>
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</material>
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</visual>
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<visual name='LeftUpLeg_LeftLeg__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<material>
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<name>__default__</name>
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</script>
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<ambient>0 1 0 1</ambient>
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</material>
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</visual>
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<collision name='LeftUpLeg_LeftLeg_collision'>
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<geometry>
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<box>
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</box>
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<contact>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftLeg__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<name>__default__</name>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='LeftLeg_LeftFoot__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<name>__default__</name>
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<uri>__default__</uri>
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</script>
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<ambient>0 1 0 1</ambient>
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</material>
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</visual>
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<collision name='LeftLeg_LeftFoot_collision'>
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<geometry>
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<box>
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<contact>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<gravity>0</gravity>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftFoot__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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</sphere>
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<name>__default__</name>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='LeftFoot_LeftToeBase__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<name>__default__</name>
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<ambient>0 1 0 1</ambient>
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<collision name='LeftFoot_LeftToeBase_collision'>
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<geometry>
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<box>
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<friction>
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<ode/>
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<ode/>
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</friction>
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</collision>
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<link name='LeftToeBase'>
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<gravity>0</gravity>
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<pose frame=''>0.177238 0.080868 -1.02931 3.14159 -0 1.5708</pose>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<ixx>4e-05</ixx>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='LeftToeBase__SKELETON_VISUAL__'>
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<geometry>
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<sphere>
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<link name='RHipJoint'>
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<iyz>0</iyz>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RHipJoint__SKELETON_VISUAL__'>
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<sphere>
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<name>__default__</name>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='RHipJoint_RightUpLeg__SKELETON_VISUAL__'>
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<box>
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<name>__default__</name>
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<uri>__default__</uri>
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<ambient>0 1 0 1</ambient>
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<ode/>
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<ode/>
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<gravity>0</gravity>
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<pose frame=''>0.045484 -0.092565 -0.10951 -1.5708 0.017454 -1.5708</pose>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<ixx>4e-05</ixx>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RightUpLeg__SKELETON_VISUAL__'>
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<sphere>
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<name>__default__</name>
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<uri>__default__</uri>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='RightUpLeg_RightLeg__SKELETON_VISUAL__'>
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<ambient>0 1 0 1</ambient>
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<collision name='RightUpLeg_RightLeg_collision'>
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<box>
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<ode/>
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<ode/>
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<ode/>
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<link name='RightLeg'>
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<gravity>0</gravity>
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<pose frame=''>0.045484 -0.084856 -0.551146 -1.5708 0.018902 -1.5708</pose>
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</inertial>
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<visual name='LeftForeArm__SKELETON_VISUAL__'>
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<sphere>
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<name>__default__</name>
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<ambient>1 0 0 1</ambient>
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<visual name='LeftForeArm_LeftHand__SKELETON_VISUAL__'>
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<box>
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<name>__default__</name>
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<ambient>0 1 0 1</ambient>
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<box>
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<ode/>
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<ode/>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<sphere>
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</inertia>
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</inertial>
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<visual name='LeftFingerBase__SKELETON_VISUAL__'>
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<sphere>
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<visual name='LeftFingerBase_LeftHandIndex1__SKELETON_VISUAL__'>
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<geometry>
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<box>
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<collision name='LeftFingerBase_LeftHandIndex1_collision'>
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<box>
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<izz>4e-05</izz>
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<visual name='LeftHandIndex1__SKELETON_VISUAL__'>
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<sphere>
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<visual name='LThumb__SKELETON_VISUAL__'>
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<izz>4e-05</izz>
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<visual name='RightShoulder__SKELETON_VISUAL__'>
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<sphere>
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<visual name='RightShoulder_RightArm__SKELETON_VISUAL__'>
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<ode/>
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<izz>4e-05</izz>
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<visual name='RightArm__SKELETON_VISUAL__'>
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<ambient>1 0 0 1</ambient>
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</visual>
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<visual name='RightArm_RightForeArm__SKELETON_VISUAL__'>
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<box>
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<ode/>
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<pose frame=''>-0.003261 -0.51551 0.330499 0.042483 -1.57079 3.09911</pose>
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<izz>4e-05</izz>
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<visual name='RightForeArm__SKELETON_VISUAL__'>
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<visual name='RightLeg__SKELETON_VISUAL__'>
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<ode/>
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<ode/>
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<izz>4e-05</izz>
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</inertia>
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</inertial>
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<visual name='RightFoot__SKELETON_VISUAL__'>
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<sphere>
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</inertia>
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<visual name='RightToeBase__SKELETON_VISUAL__'>
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<visual name='LowerBack_Spine__SKELETON_VISUAL__'>
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<ode/>
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<sphere>
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<box>
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</inertial>
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<box>
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<visual name='Head__SKELETON_VISUAL__'>
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</inertia>
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<visual name='LeftShoulder__SKELETON_VISUAL__'>
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<sphere>
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<link name='LeftForeArm'>
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<visual name='LeftForeArm__SKELETON_VISUAL__'>
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<visual name='LeftForeArm_LeftHand__SKELETON_VISUAL__'>
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</inertia>
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<visual name='RightForeArm__SKELETON_VISUAL__'>
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<ode/>
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<visual name='RightFingerBase__SKELETON_VISUAL__'>
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<script>
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<uri>model://stop_sign/materials/scripts</uri>
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<uri>model://stop_sign/materials/textures</uri>
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<name>StopSign/Diffuse</name>
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</script>
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<collision name='collision'>
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<geometry>
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<mesh>
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</mesh>
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<script>
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<uri>model://stop_sign/materials/scripts</uri>
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<uri>model://stop_sign/materials/textures</uri>
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<collision name='collision'>
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<geometry>
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<mesh>
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<uri>model://lamp_post/meshes/lamp_post.dae</uri>
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<mesh>
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<geometry>
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<mesh>
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<model name='rover_static_clone_clone_10_clone_clone_2'>
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|
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<scale>1 1 1</scale>
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<pose frame=''>30.0037 -46.115 0.203655 -1.52113 -0.015612 3.09415</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<scale>1 1 1</scale>
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<link name='front_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rear_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
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<model name='rover_static_clone_clone_11'>
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<pose frame=''>26.9183 -28.2588 -0.161234 0 0 -1.67356</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel'>
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<pose frame=''>26.0831 -29.3813 0.185736 1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_12'>
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<pose frame=''>31.2297 -27.9591 -0.161234 0 0 -1.67356</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<link name='front_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_13'>
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<pose frame=''>22.3694 -27.8578 -0.161234 0 0 -1.67356</pose>
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<scale>1 1 1</scale>
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<link name='front_right_wheel'>
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<link name='front_right_wheel_steering_block'>
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<pose frame=''>23.1832 -26.9427 0.185736 -1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rear_right_wheel'>
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<pose frame=''>21.7595 -26.7959 0.185736 1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_1_clone'>
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<pose frame=''>-8.71008 -0.510986 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<link name='front_right_wheel'>
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<link name='rear_right_wheel'>
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<pose frame=''>-7.71768 0.206534 0.185736 1.52 -0 -3.13968</pose>
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<model name='rover_static_clone_clone_1_clone_clone'>
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<pose frame=''>1.74482 15.0544 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<link name='front_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>2.73996 14.3407 0.185736 -1.52 0 -3.13968</pose>
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<pose frame=''>2.73722 15.7719 0.185736 1.52 -0 -3.13968</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<pose frame=''>1.74482 15.0544 -0.161234 0 0 -3.13968</pose>
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<model name='rover_static_clone_clone_1_clone_clone_0'>
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|
<pose frame=''>1.85051 12.0935 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<pose frame=''>0.649651 11.3756 0.185736 -1.52 0 -3.13968</pose>
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<link name='front_left_wheel_steering_block'>
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<link name='front_right_wheel'>
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<link name='rear_right_wheel'>
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<model name='rover_static_clone_clone_1_clone_clone_1'>
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|
<pose frame=''>2.11416 9.19462 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_left_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_left_wheel_steering_block'>
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<link name='front_right_wheel'>
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<pose frame=''>0.910563 9.90794 0.185736 1.52 -0 -3.13968</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel_steering_block'>
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<link name='rear_left_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rear_right_wheel'>
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<pose frame=''>3.10656 9.91214 0.185736 1.52 -0 -3.13968</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
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<model name='rover_static_clone_clone_2'>
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<pose frame=''>50.4666 1.54187 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_left_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rear_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_3'>
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<pose frame=''>55.2111 1.87009 -0.161234 0 0 -3.13968</pose>
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<scale>1 1 1</scale>
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<link name='front_right_wheel'>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>56.4967 13.1262 -0.161234 0 0 -3.13968</pose>
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<link name='front_left_wheel'>
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<link name='front_right_wheel'>
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<link name='rear_left_wheel'>
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<pose frame=''>57.4918 12.4125 0.185736 -1.52 0 -3.13968</pose>
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<link name='rear_right_wheel'>
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<pose frame=''>57.4891 13.8437 0.185736 1.52 -0 -3.13968</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_5'>
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<pose frame=''>43.3717 -10.4612 -0.161234 0 0 -1.67356</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<link name='front_left_wheel_steering_block'>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel'>
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<pose frame=''>42.5365 -11.5837 0.185736 1.52 -0 -1.67356</pose>
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<link name='front_right_wheel_steering_block'>
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<link name='rear_left_wheel'>
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<pose frame=''>44.1855 -9.54608 0.185736 -1.52 -0 -1.67356</pose>
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<link name='rear_right_wheel'>
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<pose frame=''>42.7618 -9.39926 0.185736 1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rover/imu_link'>
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<pose frame=''>43.3717 -10.4612 -0.161234 0 0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='rover_static_clone_clone_6'>
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<pose frame=''>43.8804 -17.7203 -0.161234 0 0 -1.67356</pose>
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<scale>1 1 1</scale>
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<link name='front_left_wheel'>
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<pose frame=''>44.4689 -18.9896 0.185736 -1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_left_wheel_steering_block'>
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<pose frame=''>44.2544 -18.9675 0.193916 1.5708 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel'>
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<pose frame=''>43.0452 -18.8428 0.185736 1.52 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='front_right_wheel_steering_block'>
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<pose frame=''>43.2597 -18.8649 0.193916 1.5708 -0 -1.67356</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='rear_left_wheel'>
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<link name='front_right_wheel'>
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</model>
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<model name='sidewalk_39'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_4'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_5'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_6'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_7'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_8'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sidewalk_9'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_183'>
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<pose frame=''>-11.3 -3.7 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>-11.3 -3.7 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_184'>
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<pose frame=''>41.3 -41.3 0 0 -0 3.14</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>41.3 -41.3 0 0 -0 3.14</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_184_clone'>
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<pose frame=''>-11.0955 3.92021 0 0 -0 3.14</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>-11.0955 3.92021 0 0 -0 3.14</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_184_clone_0'>
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<pose frame=''>10.9133 -4.26207 0 0 -0 3.14</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>10.9133 -4.26207 0 0 -0 3.14</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_185'>
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<pose frame=''>41.3 3.7 0 0 -0 3.14</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>41.3 3.7 0 0 -0 3.14</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_186'>
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<pose frame=''>-18.7 -3.7 0 0 0 -1.57</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>-18.7 -3.7 0 0 0 -1.57</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_187'>
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<pose frame=''>41.3 -3.7 0 0 0 -1.57</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>41.3 -3.7 0 0 0 -1.57</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='stop_sign_188'>
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<pose frame=''>106.3 -3.7 0 0 0 -1.57</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>106.3 -3.7 0 0 0 -1.57</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='unit_cylinder'>
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<pose frame=''>20.6722 33.4177 0.49998 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>20.6722 33.4177 0.49998 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 -9.8 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose frame=''>0 0 1000 0 -0 0</pose>
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</light>
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<light name='user_directional_light_0'>
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<pose frame=''>24.0343 3.49866 18 0 -0 0</pose>
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</light>
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<light name='user_point_light_0'>
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<pose frame=''>-70.5235 -10.3411 1 0 -0 0</pose>
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</light>
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</state>
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<model name='house_1_146_clone'>
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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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<mesh>
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<uri>model://house_1/meshes/house_1.dae</uri>
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<scale>1.5 1.5 1.5</scale>
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</mesh>
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</geometry>
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<contact>
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<ode/>
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<friction>
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<ode/>
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<ode/>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://house_1/meshes/house_1.dae</uri>
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<scale>1.5 1.5 1.5</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://house_1/materials/scripts</uri>
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<uri>model://house_1/materials/textures</uri>
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<name>House_1/Diffuse</name>
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</script>
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<shader type='normal_map_tangent_space'>
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<normal_map>House_1_Normal.png</normal_map>
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</shader>
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</material>
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</visual>
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<self_collide>0</self_collide>
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</link>
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<pose frame=''>12.9955 19.0454 0 0 0 -1.57</pose>
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</model>
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<model name='casual_female'>
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<static>1</static>
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<link name='link'>
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<collision name='box'>
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<pose frame=''>0 0 0.9 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.76 0.33 1.77</size>
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</box>
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<ode/>
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<torsional>
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<ode/>
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<ode/>
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</friction>
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</collision>
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<visual name='visual'>
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<pose frame=''>0 0 0.02 0.04 -0 0</pose>
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<geometry>
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<mesh>
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<uri>model://casual_female/meshes/casual_female.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<pose frame=''>-26.902 13.6572 0 0 -0 0</pose>
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</model>
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<model name='Big box 4'>
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<pose frame=''>1.63426 29.107 0.625 0 -0 0</pose>
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<static>0</static>
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<link name='link'>
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<inertial>
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<mass>40</mass>
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<ixx>1</ixx>
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<izz>1</izz>
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<collision name='collision'>
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<geometry>
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<box>
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<size>1.2 0.8 1.25</size>
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</geometry>
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<contact>
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<ode>
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</ode>
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<torsional>
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<ode/>
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<ode/>
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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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<geometry>
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<mesh>
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<uri>model://big_box4/meshes/big_box.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</model>
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<model name='Big box 2'>
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<pose frame=''>8.48888 32.9364 0.75 0 -0 0</pose>
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<static>0</static>
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<link name='link'>
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<inertial>
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<mass>40</mass>
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<inertia>
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<ixz>0</ixz>
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<izz>1</izz>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<collision name='collision'>
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<geometry>
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<box>
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<size>1.2 0.8 1.5</size>
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</box>
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</geometry>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://big_box2/meshes/big_box.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<enable_wind>0</enable_wind>
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</link>
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</model>
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<model name='EuroPallet'>
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<pose frame=''>14.2768 34.2121 0.0635 0 -0 0</pose>
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<static>0</static>
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<link name='link'>
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<inertial>
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<mass>25</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</inertial>
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<collision name='top'>
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<pose frame=''>0 0 0.0625 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.8 0.042</size>
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</box>
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</geometry>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<collision name='colum_1'>
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<pose frame=''>0.5275 -0.35 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.1 0.085</size>
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</box>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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<collision name='colum_2'>
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<pose frame=''>0.5275 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.145 0.085</size>
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</box>
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</geometry>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<collision name='colum_3'>
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<pose frame=''>0.5275 0.35 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.1 0.085</size>
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</box>
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</geometry>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<collision name='colum_4'>
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<pose frame=''>0 -0.35 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.1 0.085</size>
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</box>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<collision name='colum_5'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.145 0.085</size>
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</box>
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</geometry>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</collision>
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<collision name='colum_6'>
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<pose frame=''>0 0.35 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.145 0.1 0.085</size>
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</box>
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</geometry>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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<ode/>
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|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.6962</izz>
|
|
</inertia>
|
|
<pose frame=''>-1.8 -1.55 1.43 -0.02 0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/right_flap.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/right_flap.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='elevators'>
|
|
<inertial>
|
|
<mass>2</mass>
|
|
<inertia>
|
|
<ixx>1.5008</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.0274</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1.5266</izz>
|
|
</inertia>
|
|
<pose frame=''>-5.75 0 0.57 0 -0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/elevators.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/elevators.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='rudder'>
|
|
<inertial>
|
|
<mass>2</mass>
|
|
<inertia>
|
|
<ixx>0.4708</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5208</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.0508</izz>
|
|
</inertia>
|
|
<pose frame=''>-6.1 0 1.3 0 -0.35 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/rudder.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/rudder.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='propeller'>
|
|
<pose frame=''>1.79 0 0.855 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>18.37</mass>
|
|
<inertia>
|
|
<ixx>7.5067</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>7.515</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.068275</izz>
|
|
</inertia>
|
|
<pose frame=''>-0.35 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/cessna_prop.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/cessna_prop.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='front_wheel'>
|
|
<inertial>
|
|
<mass>2</mass>
|
|
<inertia>
|
|
<ixx>0.01786</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01786</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.0324</izz>
|
|
</inertia>
|
|
<pose frame=''>0.712 0 -0.313 1.57079 -0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<pose frame=''>0.712 0 -0.313 1.57079 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.18</radius>
|
|
<length>0.1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>0.3</mu>
|
|
<mu2>0.3</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<max_vel>0.1</max_vel>
|
|
<min_depth>0.001</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/cessna_front_wheel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<inertial>
|
|
<mass>2</mass>
|
|
<inertia>
|
|
<ixx>0.035516</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.035516</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.0625</izz>
|
|
</inertia>
|
|
<pose frame=''>-1 1.27 -0.25 1.57079 -0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<pose frame=''>-1 1.27 -0.25 1.57079 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.25</radius>
|
|
<length>0.16</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>0.3</mu>
|
|
<mu2>0.3</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<max_vel>0.1</max_vel>
|
|
<min_depth>0.001</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/cessna_rear_left_wheel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<inertial>
|
|
<mass>2</mass>
|
|
<inertia>
|
|
<ixx>0.035516</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.035516</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.0625</izz>
|
|
</inertia>
|
|
<pose frame=''>-1 -1.27 -0.25 1.57079 -0 0</pose>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<pose frame=''>-1 -1.27 -0.25 1.57079 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.25</radius>
|
|
<length>0.16</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>0.3</mu>
|
|
<mu2>0.3</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<max_vel>0.1</max_vel>
|
|
<min_depth>0.001</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cessna/meshes/cessna_rear_right_wheel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='left_flap_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>left_flap</child>
|
|
<pose frame=''>-1.6 1.55 1.43 0.02 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='left_aileron_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>left_aileron</child>
|
|
<pose frame=''>-1.45 3.7 1.5 0.05 -0 -0.12</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='right_flap_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>right_flap</child>
|
|
<pose frame=''>-1.6 -1.55 1.43 -0.02 0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='right_aileron_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>right_aileron</child>
|
|
<pose frame=''>-1.45 -3.7 1.5 -0.05 -0 0.12</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='elevators_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>elevators</child>
|
|
<pose frame=''>-5.55 0 0.57 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rudder_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>rudder</child>
|
|
<pose frame=''>-5.9 0 1.3 0 -0.35 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='propeller_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>propeller</child>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1e+12</lower>
|
|
<upper>1e+12</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.001</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_wheel_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>front_wheel</child>
|
|
<pose frame=''>0.712 0 -0.313 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1e+12</lower>
|
|
<upper>1e+12</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.01</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>-1 -1.27 -0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1e+12</lower>
|
|
<upper>1e+12</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.01</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>body</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>-1 1.27 -0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1e+12</lower>
|
|
<upper>1e+12</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.01</damping>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
</model>
|
|
<model name='rover_static'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>21.0529 4.76782 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='rover_static_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>36.7539 -2.13064 -0.161234 0 -0 0</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>43.2862 5.72228 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_0'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>44.3404 11.012 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_1'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>24.4989 1.38453 -0.161234 0 -0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_2'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>50.4666 1.54187 -0.161234 0 -0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_3'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>55.2111 1.87009 -0.161234 0 -0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_4'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>56.4967 13.1262 -0.161234 0 -0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_5'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>43.3717 -10.4612 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_6'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>43.8804 -17.7203 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_7'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>43.8711 -26.1358 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_8'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>32 -33 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_9'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>27.3791 -32.9816 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>22.848 -32.9497 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_11'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>26.9183 -28.2588 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_12'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>31.2297 -27.9591 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_13'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>22.3694 -27.8578 -0.161234 0 -0 -1.67356</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_1_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-0.689029 0.108219 -0.161234 0 0 -3.13968</pose>
|
|
</model>
|
|
<model name='arrow_red'>
|
|
<pose frame=''>4.01686 -1.03557 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>
|
|
<light name='user_directional_light_0' type='directional'>
|
|
<pose frame=''>24.0343 3.49866 1 0 -0 0</pose>
|
|
<diffuse>0.5 0.5 0.5 1</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<direction>0.1 0.1 -0.9</direction>
|
|
<attenuation>
|
|
<range>20</range>
|
|
<constant>0.5</constant>
|
|
<linear>0.01</linear>
|
|
<quadratic>0.001</quadratic>
|
|
</attenuation>
|
|
<cast_shadows>1</cast_shadows>
|
|
</light>
|
|
<light name='user_point_light_0' type='point'>
|
|
<pose frame=''>-70.5235 -10.3411 1 0 -0 0</pose>
|
|
<diffuse>0.5 0.5 0.5 1</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<attenuation>
|
|
<range>20</range>
|
|
<constant>0.5</constant>
|
|
<linear>0.01</linear>
|
|
<quadratic>0.001</quadratic>
|
|
</attenuation>
|
|
<cast_shadows>0</cast_shadows>
|
|
<direction>0 0 -1</direction>
|
|
</light>
|
|
<model name='rover_static_clone_clone_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-14.2231 -5.43889 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_clone_0'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-14.1494 -12.8769 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_clone_1'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-14.1282 -9.17925 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_clone_2'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-13.9714 -17.6505 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_clone_3'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-14.4641 -25.0331 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_clone_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-16.4459 8.25767 -0.161234 0 -0 1.56166</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_1_clone_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>1.74482 15.0544 -0.161234 0 0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_1_clone_clone_0'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>1.85051 12.0935 -0.161234 0 0 -3.13968</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_1_clone_clone_1'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>2.11416 9.19462 -0.161234 0 0 -3.13968</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>50.1047 -5.16824 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone_0'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>35.1055 4.87588 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone_1'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>39.8693 -39.227 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone_2'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>22.3117 -40.1336 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10_clone_clone'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>10.2388 -45.1263 -0.161234 -0.001128 -0.015612 3.09415</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10_clone_clone_0'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>4.24546 -44.9946 -0.161234 -0.001128 -0.015612 3.09415</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10_clone_clone_1'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>-2.83005 -45.0898 -0.161234 -0.001128 -0.015612 3.09415</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10_clone_clone_2'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>31.233 -45.4565 -0.161234 -0.001128 -0.015612 3.09415</pose>
|
|
</model>
|
|
<model name='rover_static_clone_clone_10_clone_clone_3'>
|
|
<link name='base_link'>
|
|
<inertial>
|
|
<mass>720</mass>
|
|
<inertia>
|
|
<ixx>140</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>550</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>550</izz>
|
|
</inertia>
|
|
<pose frame=''>0.1 0 0.4 0 -0 0</pose>
|
|
</inertial>
|
|
<sensor name='seat_contact' type='contact'>
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<contact>
|
|
<collision>mud_seat</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 0 -1.5708</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Body</name>
|
|
<center>0</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='cargo_visual'>
|
|
<pose frame=''>-1 0 1.0323 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Bed</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='tailgate_visual'>
|
|
<pose frame=''>-1.492 0 1.03 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Tail_Gate</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_left_brake_visual'>
|
|
<pose frame=''>1.12 -0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='front_right_brake_visual'>
|
|
<pose frame=''>1.12 0.57488 0.35516 3.1415 -0 1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Brake_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump1'>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump2'>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump3'>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump4'>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump5'>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<visual name='central_hump6'>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/DarkGrey</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.62 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.37206 0.53369</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.01</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='base_link_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.2 0 0.335 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.34 1.65746 0.06</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_bottom'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1 0 0.921 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 1.6998 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-1.465 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.495 0 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 1.69982 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='cargo_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.97 -0.82491 1.06 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.04609 0.05 0.27</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='mud_seat'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.86 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.52167 1.3 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>1</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='seat_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.26 0 1.125 0 -0.2 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.06 1.37206 0.6</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='engine'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>1.12 0 0.7 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.58 1.3 0.8</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.02 -0.76 1.936 3.14159 1.54159 3.14159</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>0.68</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_front'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.315 0 1.93 0 -1 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_top_back'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.41 0 1.88 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01299 1.54 0.10226</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_front_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.602 -0.755 1.45 0 -0.54 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1.15</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_left'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_back_right'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.755 1.45 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.03</radius>
|
|
<length>1</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_1'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.411 0.04 1.445 0.397 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='rollcage_X_2'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.4 -0.04 1.445 -0.397 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01392 1.55724 0.078</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump1_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.55 -0.1 0.4 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.6 0.15 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump2_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.7 -0.05 0.45 0 -0.5 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.2 0.05 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump3_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.798 -0.125 0.478 0 -0.8 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.129 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump4_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.8135 -0.05 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1 0.05 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump5_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.84 -0.125 0.45 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.1835</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
<collision name='central_hump6_collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.82 -0.125 0.475 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.03 0.1 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel'>
|
|
<pose frame=''>1.20223 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='tire_visual'>
|
|
<pose frame=''>0 0 0 -3e-06 1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_left_wheel_steering_block'>
|
|
<pose frame=''>1.20223 0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel'>
|
|
<pose frame=''>1.20223 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheel_Front_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='front_right_wheel_steering_block'>
|
|
<pose frame=''>1.20223 -0.5 0.35515 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.01</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_left_wheel'>
|
|
<pose frame=''>-0.99377 0.71562 0.34697 -1.52 -0 -0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Left</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rear_right_wheel'>
|
|
<pose frame=''>-0.99377 -0.71562 0.34697 1.52 -0 0</pose>
|
|
<inertial>
|
|
<mass>12</mass>
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0</ixy>
|
|
<iyy>0.5</iyy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 3.14159 -1.57079 3.14159</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://rover/meshes/polaris.dae</uri>
|
|
<scale>1.0037 0.8862 0.8862</scale>
|
|
<submesh>
|
|
<name>Wheels_Rear_Right</name>
|
|
<center>1</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://rover/materials/scripts</uri>
|
|
<uri>model://rover/materials/textures</uri>
|
|
<name>PolarisXP900/Diffuse</name>
|
|
</script>
|
|
<shader type='pixel'/>
|
|
</material>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>1</max_contacts>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.3175</radius>
|
|
<length>0.2794</length>
|
|
</cylinder>
|
|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+08</kp>
|
|
<kd>1</kd>
|
|
</bullet>
|
|
</contact>
|
|
|
|
</collision>
|
|
</link>
|
|
<link name='rover/imu_link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='front_left_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_left_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_left_wheel_joint' type='revolute'>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<child>front_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_steering_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>front_right_wheel_steering_block</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-0.7727</lower>
|
|
<upper>0.7727</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>50</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.9</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='front_right_wheel_joint' type='revolute'>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<child>front_right_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_left_wheel</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rear_right_wheel</child>
|
|
<pose frame=''>0 0 -0.1 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
<effort>-1</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rover/imu_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rover/imu_link</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<static>1</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<pose frame=''>37.7771 -44.6793 -0.161234 -0.001128 -0.015612 3.09415</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone_2_clone'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>6.82536 -39.9421 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='fire_hydrant_95_clone_2_clone_clone'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>-3.54695 -40.9334 0.15 0 -0 0</pose>
|
|
</model>
|
|
<model name='stop_sign_184_clone'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://stop_sign/materials/scripts</uri>
|
|
<uri>model://stop_sign/materials/textures</uri>
|
|
<name>StopSign/Diffuse</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>-11.0955 3.92021 0 0 -0 3.14</pose>
|
|
</model>
|
|
<model name='stop_sign_184_clone_0'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://stop_sign/materials/scripts</uri>
|
|
<uri>model://stop_sign/materials/textures</uri>
|
|
<name>StopSign/Diffuse</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>10.9133 -4.26207 0 0 -0 3.14</pose>
|
|
</model>
|
|
</world>
|
|
</sdf>
|