mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-20 23:42:45 +00:00
ef26d8ffef
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation. -Created a demo world with setpoints that the robot heads to. -Arm kinematic representation is working. -PID control of each joint is working to a basic extent. Some segments are more responsive than others. Still to do: -reading in SDF should be more robust, and should support all joint types -better control -obstacle avoidance in arm movement path -control with gravity -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
1515 lines
51 KiB
Plaintext
1515 lines
51 KiB
Plaintext
<sdf version='1.6'>
|
|
<world name='default'>
|
|
<model name='ground_plane'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<collide_bitmask>65535</collide_bitmask>
|
|
<ode/>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>100</mu>
|
|
<mu2>50</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<bounce/>
|
|
</surface>
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
</model>
|
|
<light name='sun' type='directional'>
|
|
<cast_shadows>1</cast_shadows>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
<attenuation>
|
|
<range>1000</range>
|
|
<constant>0.9</constant>
|
|
<linear>0.01</linear>
|
|
<quadratic>0.001</quadratic>
|
|
</attenuation>
|
|
<direction>-0.5 0.1 -0.9</direction>
|
|
</light>
|
|
<model name='Fanuc_robotic_arm'>
|
|
<link name='base'>
|
|
<pose frame=''>0 0 0 3.14159 -0 0</pose>
|
|
<inertial>
|
|
<mass>86.082</mass>
|
|
<inertia>
|
|
<ixx>4.3404</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0.0020207</ixz>
|
|
<iyy>2.4866</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>6.1574</izz>
|
|
</inertia>
|
|
<pose frame=''>-0.003895 -0.062844 -0.11068 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_1'>
|
|
<pose frame=''>0.001715 0.003779 0.661683 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>266.27</mass>
|
|
<inertia>
|
|
<ixx>279.51</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>4.6477</ixz>
|
|
<iyy>43.386</iyy>
|
|
<iyz>34.265</iyz>
|
|
<izz>255.26</izz>
|
|
</inertia>
|
|
<pose frame=''>0.093634 -0.51398 -0.1614 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_3'>
|
|
<pose frame=''>-0.00025 -0.94659 5.45119 1.5708 -0 0</pose>
|
|
<inertial>
|
|
<mass>63.612</mass>
|
|
<inertia>
|
|
<ixx>6.6124</ixx>
|
|
<ixy>0.099584</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>5.9295</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1.9517</izz>
|
|
</inertia>
|
|
<pose frame=''>0.00756 -3.4862 -0.40714 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_2'>
|
|
<pose frame=''>-0.068455 0.275759 0.315754 -1.571 -0 0</pose>
|
|
<inertial>
|
|
<mass>60.795</mass>
|
|
<inertia>
|
|
<ixx>8.1939</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.76659</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>8.0226</izz>
|
|
</inertia>
|
|
<pose frame=''>0.25344 -1.009 -0.57114 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_4'>
|
|
<pose frame=''>-0.000257 -3.97477 2.07064 -1.5708 7e-06 3.14159</pose>
|
|
<inertial>
|
|
<mass>6.6264</mass>
|
|
<inertia>
|
|
<ixx>0.089718</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0.017666</ixz>
|
|
<iyy>0.092881</iyy>
|
|
<iyz>3e-08</iyz>
|
|
<izz>0.028564</izz>
|
|
</inertia>
|
|
<pose frame=''>-0.028814 0 -2.454 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_5'>
|
|
<pose frame=''>0.000743 -4.767 2.06498 -1.5708 7e-06 3.14159</pose>
|
|
<inertial>
|
|
<mass>5.1229</mass>
|
|
<inertia>
|
|
<ixx>0.038195</ixx>
|
|
<ixy>4e-07</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.066675</iyy>
|
|
<iyz>6e-07</iyz>
|
|
<izz>0.04821</izz>
|
|
</inertia>
|
|
<pose frame=''>-0.010371 1e-06 -3.0669 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<link name='link_6'>
|
|
<pose frame=''>-2.06426 -5.37015 4.13075 1.88426 1.57078 0.313465</pose>
|
|
<inertial>
|
|
<mass>0.72893</mass>
|
|
<inertia>
|
|
<ixx>0.00131</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.0012978</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.0024341</izz>
|
|
</inertia>
|
|
<pose frame=''>2.0657 2.0642 -3.5441 0 -0 0</pose>
|
|
</inertial>
|
|
<self_collide>1</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>0</gravity>
|
|
<visual name='visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL</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'>
|
|
<normal_map>__default__</normal_map>
|
|
</shader>
|
|
<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>
|
|
</material>
|
|
<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>
|
|
<mesh>
|
|
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL</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>
|
|
<enable_wind>0</enable_wind>
|
|
</link>
|
|
<joint name='wrist_pivot' type='revolute'>
|
|
<parent>link_3</parent>
|
|
<child>link_4</child>
|
|
<pose frame=''>0 0 -2.7 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='shoulder_joint' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_2</child>
|
|
<pose frame=''>0 -0.41 -0.61 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='elbow_joint' type='revolute'>
|
|
<parent>link_2</parent>
|
|
<child>link_3</child>
|
|
<pose frame=''>0 -3.65 -0.6 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='wrist_joint' type='revolute'>
|
|
<parent>link_4</parent>
|
|
<child>link_5</child>
|
|
<pose frame=''>0 0 -3.15 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='shoulder_pivot' type='revolute'>
|
|
<parent>base</parent>
|
|
<child>link_1</child>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='end_effector_pivot' type='revolute'>
|
|
<parent>link_5</parent>
|
|
<child>link_6</child>
|
|
<pose frame=''>2.065 2.065 -3.5 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1.79769e+308</lower>
|
|
<upper>1.79769e+308</upper>
|
|
<effort>-2e+07</effort>
|
|
<velocity>-1</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<suspension>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</suspension>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='world_fix' type='fixed'>
|
|
<parent>world</parent>
|
|
<child>base</child>
|
|
</joint>
|
|
<static>0</static>
|
|
<allow_auto_disable>0</allow_auto_disable>
|
|
<plugin name='joint_angles' filename='libarm_angles.so'/>
|
|
<plugin name='arm_control' filename='libarm_motors.so'/>
|
|
</model>
|
|
<gravity>0 0 -9.8</gravity>
|
|
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
<atmosphere type='adiabatic'/>
|
|
<physics name='default_physics' default='0' type='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>
|
|
<scene>
|
|
<ambient>0.4 0.4 0.4 1</ambient>
|
|
<background>0.7 0.7 0.7 1</background>
|
|
<shadows>1</shadows>
|
|
</scene>
|
|
<wind/>
|
|
<spherical_coordinates>
|
|
<surface_model>EARTH_WGS84</surface_model>
|
|
<latitude_deg>0</latitude_deg>
|
|
<longitude_deg>0</longitude_deg>
|
|
<elevation>0</elevation>
|
|
<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>
|
|
<model name='Fanuc_robotic_arm'>
|
|
<pose frame=''>0 1e-06 0 2e-06 -0 -3e-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>
|
|
</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>
|
|
</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>
|
|
</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>
|
|
</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>
|
|
</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>
|
|
</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>
|
|
</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='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'>
|
|
<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_2'>
|
|
<pose frame=''>1 -1 2 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>1 -1 2 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>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<model name='unit_box'>
|
|
<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=''>3.17326 0.573933 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='unit_box_0'>
|
|
<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=''>3.77153 -0.833785 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='unit_box_1'>
|
|
<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=''>3.68535 0.374919 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>
|