mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
734 lines
24 KiB
Text
Executable file
734 lines
24 KiB
Text
Executable file
<sdf version='1.7'>
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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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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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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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<contact>
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<collide_bitmask>65535</collide_bitmask>
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<ode/>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<bounce/>
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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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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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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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</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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<wind/>
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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='Untitled'>
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<link name='link_0'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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<pose>0 0 0 0 -0 0</pose>
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</inertial>
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<pose>-0 0 -0 -1.61531 0.023444 -1.57014</pose>
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<visual name='visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/桌子.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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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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<shader type='pixel'/>
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/桌子.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</link>
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<static>0</static>
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<allow_auto_disable>1</allow_auto_disable>
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<pose>-0.337914 -0.267918 0.21022 0 -0 0</pose>
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</model>
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<state world_name='default'>
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<sim_time>5508 967000000</sim_time>
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<real_time>57858 546845463</real_time>
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<wall_time>1749002884 905886341</wall_time>
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<iterations>5502396</iterations>
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<model name='Untitled'>
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<pose>-0.347783 -0.262652 0.215 -0.023413 -0.044529 1.8e-05</pose>
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<scale>1 1 1</scale>
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<link name='link_0'>
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<pose>-0.347783 -0.262652 0.215 -1.5708 2e-06 -1.57012</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>-0.066541 -1.86442 0.124358 2.39003 -0.311467 -0.003264</acceleration>
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<wrench>-0.066541 -1.86442 0.124358 0 -0 0</wrench>
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</link>
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</model>
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<model name='Untitled_0'>
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<pose>-0.39788 -0.314647 0.222312 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link_0'>
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<pose>-0.385243 -0.333332 0.221519 1.57851 -0 -1.39915</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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<link name='link_0_clone'>
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<pose>-0.381654 -0.223326 0.220979 1.60291 -0 -1.39915</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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<link name='link_1'>
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<pose>-0.248995 -0.241812 0.220455 1.56793 0.005239 1.58595</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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<link name='link_2'>
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<pose>-0.495218 -0.415801 0.229323 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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<link name='link_3'>
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<pose>-0.478291 -0.358964 0.219284 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='ground_plane'>
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<pose>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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|
<link name='link'>
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|
<pose>0 0 0 0 -0 0</pose>
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|
<velocity>0 0 0 0 -0 0</velocity>
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|
<acceleration>0 0 0 0 -0 0</acceleration>
|
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose>0 0 10 0 -0 0</pose>
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</light>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>-0.39406 0.833514 1.03634 0 0.581242 -1.52722</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<model name='Untitled_0'>
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|
<link name='link_0'>
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|
<inertial>
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|
<mass>1</mass>
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<inertia>
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|
<ixx>0.166667</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
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|
<iyy>0.166667</iyy>
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|
<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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<pose>0 0 0 0 -0 0</pose>
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|
</inertial>
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<pose>0.012637 -0.018685 -0.000793 1.57851 -0 -1.39915</pose>
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<visual name='visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/圆柱体.dae</uri>
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|
<scale>1 1 1</scale>
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|
</mesh>
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|
</geometry>
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<material>
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<lighting>1</lighting>
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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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<shader type='pixel'/>
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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|
</visual>
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<collision name='collision'>
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|
<laser_retro>0</laser_retro>
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|
<max_contacts>10</max_contacts>
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|
<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/圆柱体.dae</uri>
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<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>
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|
</ode>
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|
<torsional>
|
|
<coefficient>1</coefficient>
|
|
<patch_radius>0</patch_radius>
|
|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
|
|
<ode>
|
|
<slip>0</slip>
|
|
</ode>
|
|
</torsional>
|
|
</friction>
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|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>1e+06</threshold>
|
|
</bounce>
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|
<contact>
|
|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
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|
<bullet>
|
|
<split_impulse>1</split_impulse>
|
|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
|
|
<kp>1e+13</kp>
|
|
<kd>1</kd>
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|
</bullet>
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|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<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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|
<link name='link_0_clone'>
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|
<inertial>
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|
<mass>1</mass>
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<inertia>
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|
<ixx>0.166667</ixx>
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|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
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|
<iyy>0.166667</iyy>
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|
<iyz>0</iyz>
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|
<izz>0.166667</izz>
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|
</inertia>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
</inertial>
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|
<pose>0.016226 0.091321 -0.001333 1.60291 -0 -1.39915</pose>
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|
<visual name='visual'>
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|
<pose>0 0 0 0 -0 0</pose>
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|
<geometry>
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|
<mesh>
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|
<uri>/home/q/Desktop/圆柱体.dae</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'/>
|
|
</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/q/Desktop/圆柱体.dae</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>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='link_1'>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
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|
<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>
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|
</inertial>
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|
<pose>0.148885 0.072835 -0.001857 1.56793 0.005239 1.58595</pose>
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|
<visual name='visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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|
<uri>/home/q/Desktop/盒子.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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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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<shader type='pixel'/>
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/盒子.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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<link name='link_2'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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<pose>0 0 0 0 -0 0</pose>
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</inertial>
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<pose>-0.097338 -0.101154 0.007011 0 -0 0</pose>
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<visual name='visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/q/Desktop/球体.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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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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<shader type='pixel'/>
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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|
<uri>/home/q/Desktop/球体.dae</uri>
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|
<scale>1 1 1</scale>
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|
</mesh>
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</geometry>
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<surface>
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|
<friction>
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|
<ode>
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|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
<fdir1>0 0 0</fdir1>
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|
<slip1>0</slip1>
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|
<slip2>0</slip2>
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|
</ode>
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<torsional>
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|
<coefficient>1</coefficient>
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|
<patch_radius>0</patch_radius>
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|
<surface_radius>0</surface_radius>
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|
<use_patch_radius>1</use_patch_radius>
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|
<ode>
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|
<slip>0</slip>
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|
</ode>
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|
</torsional>
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|
</friction>
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<bounce>
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|
<restitution_coefficient>0</restitution_coefficient>
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|
<threshold>1e+06</threshold>
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|
</bounce>
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<contact>
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|
<collide_without_contact>0</collide_without_contact>
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|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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|
<collide_bitmask>1</collide_bitmask>
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|
<ode>
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|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
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|
<kp>1e+13</kp>
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|
<kd>1</kd>
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|
<max_vel>0.01</max_vel>
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|
<min_depth>0</min_depth>
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|
</ode>
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|
<bullet>
|
|
<split_impulse>1</split_impulse>
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|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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|
<soft_cfm>0</soft_cfm>
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|
<soft_erp>0.2</soft_erp>
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|
<kp>1e+13</kp>
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|
<kd>1</kd>
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|
</bullet>
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|
</contact>
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|
</surface>
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|
</collision>
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|
<self_collide>0</self_collide>
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|
<enable_wind>0</enable_wind>
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|
<kinematic>0</kinematic>
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|
</link>
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|
<link name='link_3'>
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|
<inertial>
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|
<mass>1</mass>
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|
<inertia>
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|
<ixx>0.166667</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
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|
<iyy>0.166667</iyy>
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|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
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|
</inertia>
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|
<pose>0 0 0 0 -0 0</pose>
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|
</inertial>
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|
<pose>-0.080411 -0.044317 -0.003028 0 -0 0</pose>
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|
<visual name='visual'>
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|
<pose>0 0 0 0 -0 0</pose>
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|
<geometry>
|
|
<mesh>
|
|
<uri>/home/q/Desktop/长方块.dae</uri>
|
|
<scale>1 1 1</scale>
|
|
</mesh>
|
|
</geometry>
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|
<material>
|
|
<lighting>1</lighting>
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|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
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|
</script>
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|
<shader type='pixel'/>
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|
</material>
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|
<transparency>0</transparency>
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|
<cast_shadows>1</cast_shadows>
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|
</visual>
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<collision name='collision'>
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|
<laser_retro>0</laser_retro>
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|
<max_contacts>10</max_contacts>
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|
<pose>0 0 0 0 -0 0</pose>
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|
<geometry>
|
|
<mesh>
|
|
<uri>/home/q/Desktop/长方块.dae</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>
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|
<slip2>0</slip2>
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|
</ode>
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|
<torsional>
|
|
<coefficient>1</coefficient>
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|
<patch_radius>0</patch_radius>
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|
<surface_radius>0</surface_radius>
|
|
<use_patch_radius>1</use_patch_radius>
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|
<ode>
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|
<slip>0</slip>
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|
</ode>
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|
</torsional>
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|
</friction>
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|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
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|
<threshold>1e+06</threshold>
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|
</bounce>
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|
<contact>
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|
<collide_without_contact>0</collide_without_contact>
|
|
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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|
<collide_bitmask>1</collide_bitmask>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.2</soft_erp>
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|
<kp>1e+13</kp>
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|
<kd>1</kd>
|
|
<max_vel>0.01</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
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|
<bullet>
|
|
<split_impulse>1</split_impulse>
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|
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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|
<soft_cfm>0</soft_cfm>
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|
<soft_erp>0.2</soft_erp>
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|
<kp>1e+13</kp>
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|
<kd>1</kd>
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|
</bullet>
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|
</contact>
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|
</surface>
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|
</collision>
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|
<self_collide>0</self_collide>
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|
<enable_wind>0</enable_wind>
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|
<kinematic>0</kinematic>
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|
</link>
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|
<static>0</static>
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|
<allow_auto_disable>1</allow_auto_disable>
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|
<pose>-0.39788 -0.314647 0.222312 0 -0 0</pose>
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|
</model>
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|
</world>
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|
</sdf>
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