1092 lines
28 KiB
Plaintext
1092 lines
28 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="src_doorway">
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<pose>0 0 0 0 0 3.14159</pose>
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<!-- The big circular frame + the platform -->
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<model name="src_doorframe">
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<static>true</static>
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<link name="frame">
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<!-- Inertia, if needed -->
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<!-- Mass computed using density of aluminum 7050 (2800Kg/m3). -->
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<!-- m = (1.25*8.209*0.1)*2800 = 2873 Kg -->
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<inertial>
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<pose>0 0 0.05 0 0 0</pose>
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<mass>2873</mass>
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<inertia>
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<ixx>16895.63</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>376.483</iyy>
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<iyz>0</iyz>
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<izz>17267.3286</izz>
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</inertia>
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</inertial>
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<!-- The platform with its ramps -->
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<collision name="platform">
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<pose>0 0 0.05 0 0 0</pose>
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<geometry>
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<box>
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||
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<size>1.25 8.209 0.1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>1e16</kp>
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<kd>100.0</kd>
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<max_vel>1000.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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||
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<friction>
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||
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<ode>
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<mu>1.5</mu>
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<mu2>1.5</mu2>
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</ode>
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</friction>
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||
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</surface>
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||
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</collision>
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<collision name="front_ramp_1">
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<pose>0 4.1135 0.05 0.96 0 0</pose>
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<geometry>
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||
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<box>
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||
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<size>1.25 0.072 0.072</size>
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</box>
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||
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</geometry>
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||
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<surface>
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||
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<contact>
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||
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<ode>
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||
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<kp>1e16</kp>
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||
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<kd>100.0</kd>
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<max_vel>1000.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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||
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<friction>
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||
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<ode>
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||
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<mu>1.5</mu>
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<mu2>1.5</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name="front_ramp_2">
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<pose>0 4.1635 0.031 0.96 0 0</pose>
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||
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|
<geometry>
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||
|
|
<box>
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||
|
|
<size>1.25 0.045 0.045</size>
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||
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|
</box>
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||
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|
</geometry>
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||
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|
<surface>
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||
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|
<contact>
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||
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|
<ode>
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||
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|
<kp>1e16</kp>
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||
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|
<kd>100.0</kd>
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||
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<max_vel>1000.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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|
<friction>
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||
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|
<ode>
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||
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<mu>1.5</mu>
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<mu2>1.5</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name="front_ramp_3">
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||
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<pose>0 4.1935 0.02 0.96 0 0</pose>
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||
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|
<geometry>
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||
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|
<box>
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||
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|
<size>1.25 0.028 0.028</size>
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||
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</box>
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||
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|
</geometry>
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||
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|
<surface>
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||
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|
<contact>
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||
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|
<ode>
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||
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|
<kp>1e16</kp>
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||
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|
<kd>100.0</kd>
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||
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<max_vel>1000.0</max_vel>
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||
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<min_depth>0.001</min_depth>
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||
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</ode>
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||
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|
</contact>
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||
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|
<friction>
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||
|
|
<ode>
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||
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|
<mu>1.5</mu>
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||
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|
<mu2>1.5</mu2>
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||
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</ode>
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||
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|
</friction>
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||
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|
</surface>
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||
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|
</collision>
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||
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<collision name="front_ramp_4">
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||
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<pose>0 4.2135 0.012 0.96 0 0</pose>
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||
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|
<geometry>
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||
|
|
<box>
|
||
|
|
<size>1.25 0.017 0.017</size>
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||
|
|
</box>
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||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
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||
|
|
<ode>
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||
|
|
<kp>1e16</kp>
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||
|
|
<kd>100.0</kd>
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||
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|
<max_vel>1000.0</max_vel>
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||
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|
<min_depth>0.001</min_depth>
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||
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|
</ode>
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||
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|
</contact>
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||
|
|
<friction>
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||
|
|
<ode>
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||
|
|
<mu>1.5</mu>
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||
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|
<mu2>1.5</mu2>
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||
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</ode>
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||
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</friction>
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||
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</surface>
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||
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|
</collision>
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||
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|
<collision name="front_ramp_5">
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||
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<pose>0 4.2235 0.008 0.96 0 0</pose>
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||
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|
<geometry>
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||
|
|
<box>
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||
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|
<size>1.25 0.012 0.012</size>
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||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
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||
|
|
<max_vel>1000.0</max_vel>
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||
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|
<min_depth>0.001</min_depth>
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||
|
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</ode>
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||
|
|
</contact>
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||
|
|
<friction>
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||
|
|
<ode>
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||
|
|
<mu>1.5</mu>
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||
|
|
<mu2>1.5</mu2>
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||
|
|
</ode>
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||
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</friction>
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||
|
|
</surface>
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||
|
|
</collision>
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||
|
|
<collision name="front_ramp_6">
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||
|
|
<pose>0 4.231 0.005 0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.008 0.008</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
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||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="front_ramp_7">
|
||
|
|
<pose>0 4.2365 0.003 0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.005 0.005</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="front_ramp_8">
|
||
|
|
<pose>0 4.2405 0.002 0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.0026 0.0026</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_1">
|
||
|
|
<pose>0 -4.1135 0.05 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.072 0.072</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_2">
|
||
|
|
<pose>0 -4.1635 0.031 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.045 0.045</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_3">
|
||
|
|
<pose>0 -4.1935 0.02 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.028 0.028</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_4">
|
||
|
|
<pose>0 -4.2135 0.012 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.017 0.017</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_5">
|
||
|
|
<pose>0 -4.2235 0.008 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.012 0.012</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_6">
|
||
|
|
<pose>0 -4.231 0.005 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.008 0.008</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_7">
|
||
|
|
<pose>0 -4.2365 0.003 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.005 0.005</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="back_ramp_8">
|
||
|
|
<pose>0 -4.2405 0.002 -0.96 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.0026 0.0026</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="left_1">
|
||
|
|
<pose>0.665 0 1.2 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 2.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="left_2">
|
||
|
|
<pose>0.96 0 1.21 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 1.65</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="left_3">
|
||
|
|
<pose>1.23 0 1.2 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.25 0.19 0.6</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<!-- Collision elements in the circular frame -->
|
||
|
|
<collision name="right_1">
|
||
|
|
<pose>-0.665 0 1.2 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 2.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="right_2">
|
||
|
|
<pose>-0.96 0 1.21 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 1.65</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="right_3">
|
||
|
|
<pose>-1.23 0 1.2 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.25 0.19 0.6</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="top_1">
|
||
|
|
<pose>0 0 2.32 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.19 0.25</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="diagonal_top_left">
|
||
|
|
<pose>0.55 0 2.2 0 0.785 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 0.25</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="diagonal_top_right">
|
||
|
|
<pose>-0.55 0 2.2 0 -0.785 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 0.25</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="diagonal_bottom_left">
|
||
|
|
<pose>0.5 0 0.185 0 -0.785 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 0.07</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="diagonal_bottom_right">
|
||
|
|
<pose>-0.5 0 0.185 0 0.785 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.3 0.19 0.07</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://src_doorway/meshes/doorway_base.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<!-- Start line -->
|
||
|
|
<visual name="start_line">
|
||
|
|
<pose>0 3 0.1 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.05 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<!-- Finish line -->
|
||
|
|
<visual name="finish_line">
|
||
|
|
<pose>0 -1 0.1 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.25 0.05 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<!-- The door -->
|
||
|
|
<model name="src_door">
|
||
|
|
|
||
|
|
<link name="door">
|
||
|
|
<pose>0 0 1 0 0 0</pose>
|
||
|
|
|
||
|
|
<!-- Mass computed using density of aluminum foil (2700Kg/m3)
|
||
|
|
<!-- divided by 4 because the door is probably not solid. -->
|
||
|
|
<!-- m = (0.7*0.19*2.03)*2700 = 2873 Kg -->
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0.14 0 0 0</pose>
|
||
|
|
<mass>182</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>63.04</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>69.932</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>7.979</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="center">
|
||
|
|
<pose>0 0 0.14 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.7 0.19 2.03</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="left">
|
||
|
|
<pose>-0.4 0 0.18 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.17 0.19 1.7</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="right">
|
||
|
|
<pose>0.4 0 0.18 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.17 0.19 1.7</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="top_left">
|
||
|
|
<pose>-0.36 0 1.04 1.57 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>0.18</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="top_right">
|
||
|
|
<pose>0.36 0 1.04 1.57 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>0.18</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="bottom_left">
|
||
|
|
<pose>-0.36 0 -0.73 1.57 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>0.18</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<collision name="bottom_right">
|
||
|
|
<pose>0.36 0 -0.73 1.57 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>0.18</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="hinge">
|
||
|
|
<pose>0.507 -0.135 0.17 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.038</radius>
|
||
|
|
<length>1.48</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0 0 -1 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://src_doorway/meshes/doorway_door.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- The button -->
|
||
|
|
<link name="button">
|
||
|
|
<pose>-0.735 0.15 1.247 0 0 0</pose>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<mass>0.2</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.000432</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.000487</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.0000654</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.06 0.018 0.16</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>1e16</kp>
|
||
|
|
<kd>100.0</kd>
|
||
|
|
<max_vel>1000.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.5</mu>
|
||
|
|
<mu2>1.5</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.06 0.018 0.16</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://src_doorway/materials/scripts</uri>
|
||
|
|
<uri>model://src_doorway/materials/textures</uri>
|
||
|
|
<name>src_doorway_button/Diffuse</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<!-- Joint connecting the frame and the door -->
|
||
|
|
<joint name="hinge" type="revolute">
|
||
|
|
<parent>src_doorframe::frame</parent>
|
||
|
|
<child>src_door::door</child>
|
||
|
|
<pose>0.5 -0.14 0 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>0</lower>
|
||
|
|
<upper>3</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.0</damping>
|
||
|
|
<friction>1.0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- Joint to make the button pushable -->
|
||
|
|
<joint name="button_mechanism" type="prismatic">
|
||
|
|
<parent>src_doorframe::frame</parent>
|
||
|
|
<child>src_door::button</child>
|
||
|
|
<pose>-0.735 0.15 1.247 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>0</lower>
|
||
|
|
<upper>0.01</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>10</damping>
|
||
|
|
<spring_stiffness>800</spring_stiffness>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
</model>
|
||
|
|
</sdf>
|