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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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11
simulators/dynamic_logistics_warehouse_h/models/samp/model.config Executable file
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<?xml version="1.0" ?>
<model>
<name>samp</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

107
simulators/dynamic_logistics_warehouse_h/models/samp/model.sdf Executable file
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<?xml version='1.0'?>
<sdf version='1.7'>
<model name='samp'>
<link name='link_0'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<pose>0 0 0 1.5708 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>1</kinematic>
<enable_wind>0</enable_wind>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/robotics/AGV/amr_100_ws/src/amr_100/simulators/dynamic_logistics_warehouse_h/models/meshes/3_do_sldprt.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/robotics/AGV/amr_100_ws/src/amr_100/simulators/dynamic_logistics_warehouse_h/models/meshes/3_do_sldprt.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>