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jenniferdavid authoredf0948038
harbour4 33.67 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>
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</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
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<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
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<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
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<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
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<linear>0</linear>
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</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>
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<visual name='visual'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
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<linear>0</linear>
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</velocity_decay>
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<pose>-4.57465 -7.59158 0 0 -0 0</pose>
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<model name='container20_0'>
<static>1</static>
<link name='chassis'>
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<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
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<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>
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<pose>-5 -2 0 0 -0 0</pose>
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<model name='container20_1'>
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<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
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<surface>
<bounce/>
<friction>
<ode/>
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<contact>
<ode/>
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<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
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<pose>-5 4.56475 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>
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<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</uri>
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</link>
<pose>16 -3.48882 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>
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<velocity_decay>
<linear>0</linear>
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</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>-22 -5 0 0 -0 0</pose>
</model>
<model name='container20_3'>
<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>
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<linear>0</linear>
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</velocity_decay>
<self_collide>0</self_collide>
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<pose>-22 1 0 0 -0 0</pose>
</model>
<model name='container20_4'>
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<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
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<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
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<contact>
<ode/>
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<visual name='visual'>
<geometry>
<mesh>
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<pose>-23 7.42101 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>
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<pose>-23 20.5511 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>
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<self_collide>0</self_collide>
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<gravity>1</gravity> </link>
<pose>-26 31.5875 0 0 -0 0</pose>
</model>
<model name='container40_1'>
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<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/>
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<contact>
<ode/>
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<visual name='visual'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
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<pose>-29 44 0 0 -0 0</pose>
</model>
<model name='container-triple-stack_0'>
<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/>
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<contact>
<ode/>
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<visual name='visual'>
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<mesh>
<uri>model://container-triple-stack/model.dae</uri>
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</velocity_decay>
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</link>
<pose>36 -12 0 0 -0 0</pose>
</model>
<model name='container-multi-multi-stack'>
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<pose>0 0 0 0 -0 0</pose>
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<mesh>
<uri>model://container-multi-multi-stack/containerstack2.dae</uri>
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<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
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<contact>
<ode/>
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<visual name='visual'>
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<mesh>
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<pose>7 29 0 0 -0 0</pose>
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<model name='container-multi-stack'>
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<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
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<max_contacts>10</max_contacts>
<surface>
<bounce/>
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<ode/>
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<visual name='visual'>
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<model name='container-multi-stack_0'>
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<mesh>
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<model name='container-multi-multi-stack_0'>
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<bounce/>
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<ode/>
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<max_contacts>10</max_contacts> <surface>
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<pose>51 -40 0 0 -0 0</pose>
</model>
<state world_name='default'>
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<model name='container20_0'>
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<model name='container20_2'>
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<pose>-22 -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_3'>
<pose>-22 1 0 0 -0 0</pose>
<link name='chassis'>
<pose>-22 1 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_4'>
<pose>-23 7.42101 0 0 -0 0</pose>
<link name='chassis'>
<pose>-23 7.42101 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_5'>
<pose>11 2 0 0 -0 0</pose>
<link name='chassis'>
<pose>11 2 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_6'>
<pose>10.5728 -4 0 0 -0 0</pose>
<link name='chassis'>
<pose>10.5728 -4 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_7'>
<pose>10 -10 0 0 -0 0</pose>
<link name='chassis'>
<pose>10 -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='container40'>
<pose>-23 20.5511 0 0 -0 0</pose>
<link name='chassis'>
<pose>-23 20.5511 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>-24.0833 30.5913 0 0 -0 0</pose>
<link name='chassis'>
<pose>-24.0833 30.5913 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_1'>
<pose>-26.6819 43.6749 0 0 -0 0</pose>
<link name='chassis'>
<pose>-26.6819 43.6749 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>
<model name='strad'>
<pose>24 -26 0 0 -0 0</pose>
<link name='chassis'>
<pose>24 -26 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>72.0515 -84.7485 46.1768 3.07892e-17 0.447643 2.30819</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<model name='container20_5'>
<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>11 2 0 0 -0 0</pose>
</model>
<model name='container20_6'>
<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>10.5728 -4 0 0 -0 0</pose>
</model>
<model name='container20_7'>
<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>10 -10 0 0 -0 0</pose>
</model>
<model name='container-triple-stack_2'>
<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>50 -33.465 0 0 -0 0</pose>
</model>
<model name='strad'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://strad/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://strad/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>24 -26 0 0 -0 0</pose>
</model>
</world>
</sdf>