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Copy pathvan_with_pallet.world
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van_with_pallet.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<physics type='ode'>
<gravity>0 0 -1</gravity>
<ode>
<solver>
<type>quick</type>
<iters>20</iters>
<sor>1</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name='van'>
<static>1</static>
<link name='link'>
<inertial>
<mass>1000</mass>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://van/meshes/collision.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce />
<friction>
<ode />
</friction>
<contact>
<ode />
</contact>
</surface>
</collision>
<visual name='visual'>
<transparency>0</transparency>
<geometry>
<mesh>
<uri>model://van/meshes/visual.stl</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<model name='eur_pallet'>
<static>1</static>
<link name='link'>
<inertial>
<mass>22</mass>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://eur_pallet/meshes/eur_pallet.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce />
<friction>
<ode />
</friction>
<contact>
<ode />
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://eur_pallet/meshes/eur_pallet.stl</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<state world_name='default'>
<model name='van'>
<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='eur_pallet'>
<pose>0.71 2.68696 0.6 0 0 0</pose>
<link name='link'>
<pose>0.71 2.68696 0.6 0 0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.692833 8.60247 2.73374 0 0.259643 -1.57581</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>