764 lines
22 KiB
Plaintext
764 lines
22 KiB
Plaintext
<sdf version='1.4'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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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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</friction>
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<bounce/>
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<contact>
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<ode/>
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</contact>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</model>
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<physics type='ode'>
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<max_step_size>0.01</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>100</real_time_update_rate>
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<gravity>0 0 -9.8</gravity>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='brick_box_3x1x3'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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<ode/>
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</surface>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>1 -2 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_0'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>4 -2 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_2'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>1.53656 -27.5652 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_3'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>23 -6 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_4'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<self_collide>0</self_collide>
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<gravity>1</gravity>
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<pose>16.5913 -24 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_5'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</surface>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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<velocity_decay>
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<linear>0</linear>
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<self_collide>0</self_collide>
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<gravity>1</gravity>
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<pose>-27 7 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_6'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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<self_collide>0</self_collide>
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<gravity>1</gravity>
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</link>
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<pose>-31.4502 -31 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_7'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>39.4354 5.53148 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_8'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>17 36 0 0 -0 0</pose>
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</model>
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<model name='brick_box_3x1x3_9'>
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<static>1</static>
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<link name='chassis'>
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<pose>0 0 1.5 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>3 1 3</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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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://brick_box_3x1x3/meshes/simple_box.dae</uri>
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<scale>3 1 3</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://brick_box_3x1x3/materials/scripts</uri>
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<uri>model://brick_box_3x1x3/materials/textures</uri>
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<name>BrickBox/Diffuse</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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<gravity>1</gravity>
|
|
</link>
|
|
<pose>-14 39.5411 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='brick_box_3x1x3_10'>
|
|
<static>1</static>
|
|
<link name='chassis'>
|
|
<pose>0 0 1.5 0 -0 0</pose>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3 1 3</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
|
|
<scale>3 1 3</scale>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://brick_box_3x1x3/materials/scripts</uri>
|
|
<uri>model://brick_box_3x1x3/materials/textures</uri>
|
|
<name>BrickBox/Diffuse</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-43 44 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='brick_box_3x1x3_11'>
|
|
<static>1</static>
|
|
<link name='chassis'>
|
|
<pose>0 0 1.5 0 -0 0</pose>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>3 1 3</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
|
|
<scale>3 1 3</scale>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://brick_box_3x1x3/materials/scripts</uri>
|
|
<uri>model://brick_box_3x1x3/materials/textures</uri>
|
|
<name>BrickBox/Diffuse</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>42 43.569 0 0 -0 0</pose>
|
|
</model>
|
|
<state world_name='default'>
|
|
<sim_time>475 10000000</sim_time>
|
|
<real_time>475 460618411</real_time>
|
|
<wall_time>1492644168 183621259</wall_time>
|
|
<model name='brick_box_3x1x3'>
|
|
<pose>1.03396 8.67836 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>1.03396 8.67836 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_0'>
|
|
<pose>6.45642 -12.8123 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>6.45642 -12.8123 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_10'>
|
|
<pose>-43 44 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>-43 44 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_11'>
|
|
<pose>42 43.569 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>42 43.569 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_2'>
|
|
<pose>1.53656 -27.5652 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>1.53656 -27.5652 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_3'>
|
|
<pose>23 -6 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>23 -6 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_4'>
|
|
<pose>32.1445 -24 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>32.1445 -24 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_5'>
|
|
<pose>-27 7 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>-27 7 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_6'>
|
|
<pose>-31.4502 -31 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>-31.4502 -31 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_7'>
|
|
<pose>39.4354 5.53148 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>39.4354 5.53148 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_8'>
|
|
<pose>17 36 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>17 36 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='brick_box_3x1x3_9'>
|
|
<pose>-14 39.5411 0 0 -0 0</pose>
|
|
<link name='chassis'>
|
|
<pose>-14 39.5411 1.5 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='ground_plane'>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<link name='link'>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose>-81.6641 57.3953 316.554 0 1.33737 -0.23823</pose>
|
|
<view_controller>orbit</view_controller>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|