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1260 lines
40 KiB
1260 lines
40 KiB
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</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
|
|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.45 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
|
|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.45 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
|
|
<pose frame=''>0 0 1.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
|
|
<pose frame=''>0 0 1.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<pose frame=''>1.18875 -4.65304 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='table_short'>
|
|
<link name='link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<mass>1</mass>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
<visual name='visual1'>
|
|
<pose frame=''>0 0 0.6 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.4 0.8 0.04</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<emissive>0 0 0 1</emissive>
|
|
<shader type='vertex'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='front_left_leg'>
|
|
<pose frame=''>0.68 0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<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>
|
|
<shader type='vertex'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='front_right_leg'>
|
|
<pose frame=''>0.68 -0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<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>
|
|
<shader type='vertex'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='back_right_leg'>
|
|
<pose frame=''>-0.68 -0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<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>
|
|
<shader type='vertex'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<visual name='back_left_leg'>
|
|
<pose frame=''>-0.68 0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
<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>
|
|
<shader type='vertex'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
</material>
|
|
<cast_shadows>1</cast_shadows>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<collision name='front_left_leg'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.68 0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</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>
|
|
<collision name='surface'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0 0 0.6 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.5 0.8 0.03</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.6</mu>
|
|
<mu2>0.6</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>
|
|
<collision name='back_right_leg'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.68 -0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</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>
|
|
<collision name='back_left_leg'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>-0.68 0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</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>
|
|
<collision name='front_right_leg'>
|
|
<laser_retro>0</laser_retro>
|
|
<max_contacts>10</max_contacts>
|
|
<pose frame=''>0.68 -0.38 0.3 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.02</radius>
|
|
<length>0.6</length>
|
|
</cylinder>
|
|
</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<static>0</static>
|
|
<allow_auto_disable>1</allow_auto_disable>
|
|
<pose frame=''>-4.52818 0.7433 0 0 -0 0</pose>
|
|
</model>
|
|
<state world_name='default'>
|
|
<sim_time>147 596000000</sim_time>
|
|
<real_time>148 17807425</real_time>
|
|
<wall_time>1624476700 505930752</wall_time>
|
|
<iterations>147596</iterations>
|
|
<model name='Dumpster'>
|
|
<pose frame=''>-4.50879 -4.28224 0.001377 0 -0 1.5708</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>-4.50879 -4.28224 0.001377 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>-8e-06 0.013529 9.81173 2.75679 -0.007266 -6e-06</acceleration>
|
|
<wrench>-8e-06 0.013529 9.81173 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='cabinet'>
|
|
<pose frame=''>1.18875 -4.65304 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='cabinet_bottom_plate'>
|
|
<pose frame=''>1.18875 -4.65304 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='drc_practice_angled_barrier_45'>
|
|
<pose frame=''>-4.00262 3.53677 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='eight::link'>
|
|
<pose frame=''>6.22218 -2.07301 0 0 0 -2.3562</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>
|
|
<link name='five::link'>
|
|
<pose frame=''>2.49556 1.68673 0 0 0 -2.3562</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>
|
|
<link name='four::link'>
|
|
<pose frame=''>1.25328 2.9401 0 0 0 -2.3562</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>
|
|
<link name='nine::link'>
|
|
<pose frame=''>7.02618 -2.90526 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>
|
|
<link name='one::link'>
|
|
<pose frame=''>-4.00262 3.53677 0 0 0 -1.5707</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>
|
|
<link name='seven::link'>
|
|
<pose frame=''>4.97994 -0.81933 0 0 0 -2.3562</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>
|
|
<link name='six::link'>
|
|
<pose frame=''>3.73769 0.43416 0 0 0 -2.3562</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>
|
|
<link name='ten::link'>
|
|
<pose frame=''>7.02618 -2.90526 0.866 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>
|
|
<link name='three::link'>
|
|
<pose frame=''>-0.4734 3.5206 0 0 0 -1.5707</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>
|
|
<link name='two::link'>
|
|
<pose frame=''>-2.23802 3.52821 0 0 0 -1.5707</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 frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>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='table_short'>
|
|
<pose frame=''>-4.52818 0.7433 -1e-06 0 -2e-06 1.5708</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>-4.52818 0.7433 -1e-06 0 -2e-06 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>-0 -7e-06 -0.000453 0.341183 -0.000301 0</acceleration>
|
|
<wrench>-0 -7e-06 -0.000453 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>12.1502 -5.10365 10.7 0 0.703643 2.88819</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|