990 lines
28 KiB
XML
990 lines
28 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.4'>
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<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
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Copyright (c) 2015 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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This world has more advanced components for simulation of the car and objects
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through Gazebo. For more information and for the tutorials used to create
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this file, see
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http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
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-->
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<world name='default'>
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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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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<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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</model>
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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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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>47.2952 -9.18432 14.3866 3.14536e-17 0.489796 2.43312</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</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='asphalt_plane_3'>
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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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<box>
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<size>20 20 0.1</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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<cast_shadows>0</cast_shadows>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</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>-0.579832 7.43849 0 0 -0 0</pose>
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</model>
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<model name='asphalt_plane_4'>
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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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<box>
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<size>20 20 0.1</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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<cast_shadows>0</cast_shadows>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</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>19 7.43486 0 0 -0 0</pose>
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</model>
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<model name='asphalt_plane_6'>
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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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<box>
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<size>20 20 0.1</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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<cast_shadows>0</cast_shadows>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</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 7.49528 0 0 -0 0</pose>
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</model>
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<model name='asphalt_plane_7'>
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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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<box>
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<size>20 20 0.1</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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<cast_shadows>0</cast_shadows>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</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 27.4494 0 0 -0 0</pose>
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</model>
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<model name='asphalt_plane_9'>
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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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<box>
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<size>20 20 0.1</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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<cast_shadows>0</cast_shadows>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</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 47.4433 0 0 -0 0</pose>
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</model>
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<model name='House 1'>
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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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</mesh>
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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://house_1/meshes/house_1.dae</uri>
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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_object_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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<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>-2.40435 26 0 0 -0 0</pose>
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</model>
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<model name='House 2'>
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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_2/meshes/house_2.dae</uri>
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</mesh>
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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://house_2/meshes/house_2.dae</uri>
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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_2/materials/scripts</uri>
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<uri>model://house_2/materials/textures</uri>
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<uri>model://house_1/materials/textures</uri>
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<name>House_2/Diffuse</name>
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</script>
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<shader type='normal_map_object_space'>
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<normal_map>model://house_1/materials/textures/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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<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>10.586 29 0 0 -0 0</pose>
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</model>
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<model name='House 3'>
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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_3/meshes/house_3.dae</uri>
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</mesh>
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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://house_3/meshes/house_3.dae</uri>
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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_3/materials/scripts</uri>
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<uri>model://house_3/materials/textures</uri>
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<uri>model://house_1/materials/textures</uri>
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<name>House_3/Diffuse</name>
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</script>
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<shader type='normal_map_object_space'>
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<normal_map>model://house_1/materials/textures/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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<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>23 25 0 0 -0 0</pose>
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</model>
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<state world_name='default'>
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<sim_time>1050 40000000</sim_time>
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<real_time>1497 796478139</real_time>
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<wall_time>1447871586 208377429</wall_time>
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<model name='House 1'>
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<pose>-2.40435 26 0 0 -0 0</pose>
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<link name='link'>
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<pose>-2.40435 26 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='House 2'>
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<pose>10.586 29 0 0 -0 0</pose>
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<link name='link'>
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<pose>10.586 29 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='House 3'>
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<pose>23 25 0 0 -0 0</pose>
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<link name='link'>
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<pose>23 25 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='asphalt_plane_3'>
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<pose>-0.579832 7.43849 0 0 -0 0</pose>
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<link name='link'>
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<pose>-0.579832 7.43849 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='asphalt_plane_4'>
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<pose>19 7.43486 0 0 -0 0</pose>
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<link name='link'>
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<pose>19 7.43486 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>
|
|
<model name='asphalt_plane_6'>
|
|
<pose>39 7.49528 0 0 -0 0</pose>
|
|
<link name='link'>
|
|
<pose>39 7.49528 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>
|
|
<model name='asphalt_plane_7'>
|
|
<pose>39 27.4494 0 0 -0 0</pose>
|
|
<link name='link'>
|
|
<pose>39 27.4494 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>
|
|
<model name='asphalt_plane_9'>
|
|
<pose>39 47.4433 0 0 -0 0</pose>
|
|
<link name='link'>
|
|
<pose>39 47.4433 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>
|
|
<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>
|
|
<model name='jersey_barrier'>
|
|
<pose>27 17.8342 0 0 0 -3.08258</pose>
|
|
<link name='link'>
|
|
<pose>27 17.8342 0 0 0 -3.08258</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='jersey_barrier_0'>
|
|
<pose>27 12 0 0.024381 -0.009147 1.53118</pose>
|
|
<link name='link'>
|
|
<pose>27 12 0 0.024381 -0.009147 1.53118</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='jersey_barrier_1'>
|
|
<pose>27 2 0 -0.006911 0.012543 1.48507</pose>
|
|
<link name='link'>
|
|
<pose>27 2 0 -0.006911 0.012543 1.48507</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>
|
|
<model name='jersey_barrier'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>27 18 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_0'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>27 12 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_1'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
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|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
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|
</link>
|
|
<pose>27 2 0 0 -0 0</pose>
|
|
</model>
|
|
</world>
|
|
</sdf>
|