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jenniferdavid authoredf0948038
harbour1 22.51 KiB
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>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='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>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</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>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics 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>
<gravity>0 0 -9.8</gravity>
</physics>
<scene> <ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<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>
<model name='container20'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</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://container20/CONTAINER20.dae</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>
<pose>-7 -10 0 0 -0 0</pose>
</model>
<model name='container20_0'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</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://container20/CONTAINER20.dae</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>
<pose>-7 -5 0 0 -0 0</pose>
</model>
<model name='container40'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</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://container40/CONTAINER40.dae</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>
<pose>-8 1 0 0 -0 0</pose>
</model>
<model name='container40_0'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</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://container40/CONTAINER40.dae</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>
<pose>-8 6 0 0 -0 0</pose>
</model>
<model name='container20_1'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</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://container20/CONTAINER20.dae</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>
<pose>-1 -5 0 0 -0 0</pose>
</model>
<model name='container20_2'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</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://container20/CONTAINER20.dae</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>
<pose>0 -10 0 0 -0 0</pose>
</model>
<model name='container-triple-stack'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</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://container-triple-stack/model.dae</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>
<pose>23 23 0 0 -0 0</pose>
</model>
<model name='container-multi-stack'>
<static>1</static>
<link name='chassis'> <pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</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://container-multi-stack/container-multi-stack.dae</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>
<pose>15 14 0 0 -0 0</pose>
</model>
<model name='Construction Cone'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia> <ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>3.47983 -4 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Cone_0'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>3.44418 -8 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Stop Sign'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh> <uri>model://stop_sign/meshes/stop_sign.dae</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://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://stop_sign/materials/scripts</uri>
<uri>model://stop_sign/materials/textures</uri>
<name>StopSign/Diffuse</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0 -13 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Lamp Post'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</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://lamp_post/meshes/lamp_post.dae</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>
<pose>23 -13 0 0 -0 0</pose>
</model>
<model name='Lamp Post_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</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://lamp_post/meshes/lamp_post.dae</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>
<pose>23.4013 -16 0 0 -0 0</pose>
</model>
<model name='Lamp Post_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</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://lamp_post/meshes/lamp_post.dae</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>
<pose>22.5805 -9 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>302 931000000</sim_time>
<real_time>321 159499022</real_time>
<wall_time>1433846114 554758867</wall_time>
<model name='Construction Cone'>
<pose>3.47983 -4 0 0 -0 0</pose>
<link name='link'>
<pose>3.47983 -4 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='Construction Cone_0'>
<pose>3.44418 -8 -7e-06 -1e-06 -0 -0</pose>
<link name='link'>
<pose>3.44418 -8 -7e-06 -1e-06 -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='Lamp Post'>
<pose>23 -13 0 0 -0 0</pose>
<link name='link'>
<pose>23 -13 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='Lamp Post_0'>
<pose>23.4013 -16 0 0 -0 0</pose>
<link name='link'>
<pose>23.4013 -16 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='Lamp Post_1'>
<pose>22.5805 -9 0 0 -0 0</pose>
<link name='link'>
<pose>22.5805 -9 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='Stop Sign'>
<pose>0 -13 1e-06 -2.1e-05 3.5e-05 0</pose>
<link name='link'>
<pose>0 -13 1e-06 -2.1e-05 3.5e-05 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='container-multi-stack'>
<pose>15 14 0 0 -0 0</pose>
<link name='chassis'>
<pose>15 14 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='container-triple-stack'>
<pose>59.0623 12.6872 0 0 -0 0</pose>
<link name='chassis'>
<pose>59.0623 12.6872 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='container20'>
<pose>-7 -10 0 0 -0 0</pose>
<link name='chassis'>
<pose>-7 -10 0.1 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='container20_0'>
<pose>-7 -5 0 0 -0 0</pose>
<link name='chassis'>
<pose>-7 -5 0.1 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='container20_1'>
<pose>24.2978 -5.67823 0 0 -0 0</pose>
<link name='chassis'>
<pose>24.2978 -5.67823 0.1 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='container20_2'>
<pose>22.9499 1.72757 0 0 -0 0</pose>
<link name='chassis'>
<pose>22.9499 1.72757 0.1 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='container40'>
<pose>-6.25764 -0.175828 0 0 -0 0</pose>
<link name='chassis'>
<pose>-6.25764 -0.175828 0.1 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='container40_0'>
<pose>-6.36807 5.40445 0 0 -0 0</pose>
<link name='chassis'>
<pose>-6.36807 5.40445 0.1 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='ground_plane'>
<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>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>41.1775 -36.4403 16.3721 0 0.371643 2.28419</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>