1998 lines
61 KiB
Plaintext
Executable File
1998 lines
61 KiB
Plaintext
Executable File
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|
|
</friction>
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</surface>
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<visual name='Wall_3_Visual'>
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|
<pose>0 0 1.25 0 -0 0</pose>
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<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
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|
</geometry>
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<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/CeilingTiled</name>
|
|
</script>
|
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<ambient>1 1 1 1</ambient>
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|
</material>
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<meta>
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|
<layer>0</layer>
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</meta>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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<static>1</static>
|
|
</model>
|
|
<model name='single_wall_clone'>
|
|
<pose>0 10 0 0 -0 0</pose>
|
|
<link name='Wall_3'>
|
|
<collision name='Wall_3_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
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</geometry>
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<pose>0 0 1.25 0 -0 0</pose>
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<surface>
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<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
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|
<ode/>
|
|
</friction>
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|
</surface>
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|
</collision>
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<visual name='Wall_3_Visual'>
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|
<pose>0 0 1.25 0 -0 0</pose>
|
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<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
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<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/CeilingTiled</name>
|
|
</script>
|
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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|
<layer>0</layer>
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</meta>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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|
</link>
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|
<static>1</static>
|
|
</model>
|
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<model name='single_wall_clone_0'>
|
|
<pose>0 -10 0 0 -0 3.14</pose>
|
|
<link name='Wall_3'>
|
|
<collision name='Wall_3_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
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</geometry>
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<pose>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_3_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/CeilingTiled</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<static>1</static>
|
|
</model>
|
|
<model name='single_wall_clone_1'>
|
|
<pose>10 0 0 0 0 -1.57</pose>
|
|
<link name='Wall_3'>
|
|
<collision name='Wall_3_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_3_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>20 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/CeilingTiled</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<static>1</static>
|
|
</model>
|
|
<model name='single_wall_1'>
|
|
<pose>0.7388 -5.70207 0 0 0 -1.57</pose>
|
|
<link name='Wall_9'>
|
|
<collision name='Wall_9_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>8 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>8 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
</visual>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<static>1</static>
|
|
</model>
|
|
<model name='single_wall_1_clone_clone'>
|
|
<link name='Wall_9'>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0</izz>
|
|
</inertia>
|
|
<mass>0</mass>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<gravity>1</gravity>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_9_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</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>1</static>
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
<pose>5.36173 -1.85107 0 0 -0 3.14</pose>
|
|
</model>
|
|
<model name='single_wall_1_clone'>
|
|
<link name='Wall_9'>
|
|
<pose>-0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0</izz>
|
|
</inertia>
|
|
<mass>0</mass>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<gravity>1</gravity>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_9_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1 0.15 2.5</size>
|
|
</box>
|
|
</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>1</static>
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
<pose>1.40743 -1.85107 0 0 -0 3.14</pose>
|
|
</model>
|
|
<model name='single_wall_1_clone_clone_clone'>
|
|
<link name='Wall_9'>
|
|
<pose>-0 0 0 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0</izz>
|
|
</inertia>
|
|
<mass>0</mass>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<gravity>1</gravity>
|
|
<visual name='Wall_9_Visual'>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<shader type='pixel'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
|
|
</meta>
|
|
<transparency>0</transparency>
|
|
<cast_shadows>1</cast_shadows>
|
|
</visual>
|
|
<collision name='Wall_9_Collision'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.25 0.15 2.5</size>
|
|
</box>
|
|
</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>1</static>
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
<pose>8.68743 -1.85107 0 0 -0 3.14</pose>
|
|
</model>
|
|
</world>
|
|
</sdf>
|