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Added setpoint testing world

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This commit is contained in:
Derek Witcpalek
2020-04-15 15:54:31 -04:00
parent ba6901d32a
commit 85d500106a
1 changed files with 111 additions and 331 deletions
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442
rrrobot_src/world/rrrobot_setpoint.world
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@@ -991,54 +991,54 @@
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>84 128000000</sim_time>
<real_time>227 16092534</real_time>
<wall_time>1586714255 897951104</wall_time>
<iterations>84128</iterations>
<sim_time>231 66000000</sim_time>
<real_time>507 418619758</real_time>
<wall_time>1586729050 380379296</wall_time>
<iterations>146938</iterations>
<model name='Fanuc_robotic_arm'>
<pose frame=''>0 1e-06 0 2e-06 -0 -3e-06</pose>
<pose frame=''>-0 0 0 2e-06 -0 1e-06</pose>
<scale>1 1 1</scale>
<link name='base'>
<pose frame=''>0 1e-06 0 3.14159 0 -3e-06</pose>
<velocity>-2e-06 4e-06 -1.9e-05 5e-06 5.3e-05 3e-06</velocity>
<acceleration>-0.014451 -0.003203 -0.002579 0.065768 -0.16485 0.013118</acceleration>
<wrench>-1.24396 -0.275747 -0.221966 0 -0 0</wrench>
<pose frame=''>-0 0 0 3.14159 -0 1e-06</pose>
<velocity>1e-06 1e-06 3e-05 0.000207 0.000211 2e-06</velocity>
<acceleration>0.03947 -0.03788 0.086841 0.42064 0.424859 -0.030275</acceleration>
<wrench>3.39762 -3.26076 7.47543 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose frame=''>0.001716 0.003778 0.661683 1.57079 -4e-06 2.3478</pose>
<velocity>0.000225 7.9e-05 -9e-06 -0.000224 0.000249 -0.010059</velocity>
<acceleration>-0.013679 -0.151361 0.064888 0.206531 0.253364 2.70926</acceleration>
<wrench>-3.64238 -40.3028 17.2776 0 -0 0</wrench>
<pose frame=''>0.001715 0.003778 0.661683 1.57079 -3e-06 2.36415</pose>
<velocity>8.5e-05 -0.000112 3.3e-05 2.3e-05 3e-06 0.004923</velocity>
<acceleration>0.162536 -0.194838 0.061524 0.051348 0.004368 -0.035438</acceleration>
<wrench>43.2785 -51.8795 16.3821 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose frame=''>-0.200644 -0.293623 0.474736 -1.32775 -4e-06 2.3478</pose>
<velocity>-0.002409 0.002512 -0.001684 0.001575 -0.001632 -0.010095</velocity>
<acceleration>-0.653366 -0.603443 0.055824 0.107976 -0.798416 -0.477122</acceleration>
<wrench>-39.7214 -36.6863 3.39379 0 -0 0</wrench>
<pose frame=''>-0.184155 -0.285108 0.433232 -1.38854 -3e-06 2.36415</pose>
<velocity>0.001079 -0.001381 0.001391 -0.001447 0.001439 0.004906</velocity>
<acceleration>0.128328 -0.155308 0.043601 -0.120213 -0.05538 -0.516798</acceleration>
<wrench>7.80168 -9.44197 2.65075 0 -0 0</wrench>
</link>
<link name='link_3'>
<pose frame=''>2.76295 2.71626 3.51127 2.48747 -4e-06 2.3478</pose>
<velocity>0.035596 -0.019179 -0.025963 -0.005696 0.005776 -0.009954</velocity>
<acceleration>-1.52627 -1.27903 -1.61816 -1.42175 0.410946 1.66071</acceleration>
<wrench>-97.0888 -81.3618 -102.934 0 -0 0</wrench>
<pose frame=''>-0.892768 -0.907878 4.99997 0.892693 -3e-06 2.36415</pose>
<velocity>0.006693 -0.002386 2.9e-05 -0.000168 0.000177 0.004946</velocity>
<acceleration>0.1229 -0.112233 0.033854 -0.054886 -0.073619 -0.040518</acceleration>
<wrench>7.81792 -7.13938 2.15354 0 -0 0</wrench>
</link>
<link name='link_4'>
<pose frame=''>2.16384 2.12713 -0.948795 -2.5018 -0.146798 -0.599729</pose>
<velocity>0.007014 -0.033224 -0.014559 0.130634 0.135525 -0.254293</velocity>
<acceleration>-5.4754 -4.48892 -6.4751 -2.49967 1.34692 -2.78923</acceleration>
<wrench>-36.2822 -29.7454 -42.9066 0 -0 0</wrench>
<pose frame=''>2.249 2.2843 4.26696 -0.869437 -0.236366 -0.972709</pose>
<velocity>-0.009922 0.012659 -0.000147 0.020894 0.020977 0.02889</velocity>
<acceleration>0.088476 -0.053332 0.012869 0.310775 0.654396 0.36917</acceleration>
<wrench>0.586276 -0.353401 0.085278 0 -0 0</wrench>
</link>
<link name='link_5'>
<pose frame=''>1.00544 1.7326 4.00541 -0.137797 -0.146802 -0.599723</pose>
<velocity>0.601991 -0.359545 0.086432 0.12202 0.142802 -0.257395</velocity>
<acceleration>-4.38455 -5.27607 -7.10143 2.86584 -1.22955 -2.98271</acceleration>
<wrench>-22.4616 -27.0288 -36.3799 0 -0 0</wrench>
<pose frame=''>0.213385 1.35124 5.81982 0.13054 -0.236372 -0.972714</pose>
<velocity>0.183431 0.012458 0.044866 -0.006391 0.063695 0.018011</velocity>
<acceleration>0.053142 -0.040133 0.005787 0.049406 -0.452819 -0.10883</acceleration>
<wrench>0.27224 -0.205595 0.029644 0 -0 0</wrench>
</link>
<link name='link_6'>
<pose frame=''>0.690541 4.69735 4.01685 0.157576 -0.125335 -2.26271</pose>
<velocity>1.32005 -0.295835 0.504983 0.125351 0.142495 -0.244604</velocity>
<acceleration>-1.71691 -5.67113 -7.06861 -1.70898 -0.167015 1.74113</acceleration>
<wrench>-1.25151 -4.13385 -5.15252 0 -0 0</wrench>
<pose frame=''>2.34224 3.22369 6.74147 0.089806 0.254371 3.02349</pose>
<velocity>0.139247 0.150276 -0.131728 -0.016258 0.068672 0.057563</velocity>
<acceleration>0.007493 -0.024085 -0.00486 -0.112806 -0.330423 0.016884</acceleration>
<wrench>0.005462 -0.017556 -0.003543 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
@@ -1052,26 +1052,6 @@
</link>
</model>
<model name='unit_box'>
<pose frame=''>1 1 1 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>1 1 1 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='unit_box_0'>
<pose frame=''>1 1 3 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>1 1 3 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='unit_box_1'>
<pose frame=''>1 -1 1 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
@@ -1081,7 +1061,27 @@
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='unit_box_2'>
<model name='unit_box_0'>
<pose frame=''>1 1 1 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>1 1 1 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='unit_box_1'>
<pose frame=''>1 1 3 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>1 1 3 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='unit_box_3'>
<pose frame=''>1 -1 2 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
@@ -1095,6 +1095,60 @@
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>7.32519 -0.011987 1.82138 0 0.031643 2.94021</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='unit_box_3'>
<link name='link'>
<inertial>
<mass>0.208095</mass>
<inertia>
<ixx>0.0180922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0180922</iyy>
<iyz>0</iyz>
<izz>0.0346825</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<pose frame=''>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 0 0 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>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose frame=''>1 -1 2 0 -0 0</pose>
</model>
<model name='unit_box'>
<link name='link'>
<inertial>
@@ -1137,65 +1191,10 @@
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.05</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 frame=''>3.17326 0.573933 0 0 -0 0</pose>
<pose frame=''>1.69337 0.007339 0 0 -0 0</pose>
</model>
<model name='unit_box_0'>
<link name='link'>
@@ -1239,65 +1238,10 @@
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.05</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 frame=''>3.77153 -0.833785 0 0 -0 0</pose>
<pose frame=''>1.21098 0.975446 0 0 -0 0</pose>
</model>
<model name='unit_box_1'>
<link name='link'>
@@ -1341,174 +1285,10 @@
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.05</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 frame=''>3.68535 0.374919 0 0 -0 0</pose>
<pose frame=''>1.63258 0.852545 0 0 -0 0</pose>
</model>
<model name='unit_box_2'>
<link name='link'>
<inertial>
<mass>0.208095</mass>
<inertia>
<ixx>0.0180922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0180922</iyy>
<iyz>0</iyz>
<izz>0.0346825</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<pose frame=''>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 0 0 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>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.05</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 frame=''>3.7805 -0.448301 0 0 -0 0</pose>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>6.87718 0.050797 2.34784 0 0.147643 2.9762</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>