694 lines
18 KiB
XML
694 lines
18 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.9">
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<world name="ign_moveit2_follow_target_world">
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<!-- Physics -->
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<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
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<engine>
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<filename>ignition-physics-dartsim-plugin</filename>
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</engine>
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<dart>
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<collision_detector>bullet</collision_detector>
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</dart>
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</plugin>
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<physics name="physics_config" type="dart">
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<!-- Scene -->
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<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<scene>
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<ambient>0.8 0.8 0.8</ambient>
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<grid>false</grid>
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</scene>
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<!-- User Commands (transform control) -->
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<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
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</plugin>
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<!-- -->
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<!-- Illumination -->
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<!-- -->
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.3 0.3 -0.9</direction>
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</light>
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<!-- -->
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<!-- Models -->
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<!-- -->
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<!-- Ground -->
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<model name="ground_plane">
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<pose>0.5 0 0 0 0 0</pose>
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<static>true</static>
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<link name="ground_plane_link">
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<collision name="ground_plane_collision">
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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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<size>5 2 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="ground_plane_visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>5 2</size>
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</plane>
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</geometry>
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<material>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="underground_plane">
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<pose>0.5 0 -10.0 0 0 0</pose>
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<static>true</static>
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<link name="underground_plane_link">
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<collision name="underground_plane_collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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</plane>
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</geometry>
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</collision>
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</link>
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</model>
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<!-- Blockade -->
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<model name="blockade">
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<pose>2.95 0 0.5 0 0 0</pose>
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<static>true</static>
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<link name="blockade_link">
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<collision name="blockade_collision">
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<geometry>
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<box>
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<size>0.1 2.0 1.0</size>
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</box>
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</geometry>
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</collision>
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<visual name="blockade_visual">
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<geometry>
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<box>
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<size>0.1 2.0 1.0</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<!-- Object to throw -->
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<model name="throwing_object">
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<pose>0.5 0 0.025 1.5707963 0 0</pose>
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<link name="throwing_object_link">
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<inertial>
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<inertia>
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<ixx>0.00025</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00025</iyy>
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<iyz>0.0</iyz>
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<izz>0.00025</izz>
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</inertia>
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<mass>0.6</mass>
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</inertial>
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<collision name="throwing_object_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>2.0</mu>
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<mu2>2.0</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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<visual name="throwing_object_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<specular>0.4 0.4 0.4 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<!-- Target pyramid -->
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<!-- Re-enable boxes if you want a larger pyramid -->
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<!-- <model name="pyramid_box0">
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<pose>1.5 -0.15 0.025 0 0 0</pose>
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<link name="pyramid_box0_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box0_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box0_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model> -->
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<model name="pyramid_box1">
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<pose>1.5 -0.075 0.025 0 0 0</pose>
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<link name="pyramid_box1_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box1_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box1_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="pyramid_box2">
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<pose>1.5 0 0.025 0 0 0</pose>
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<link name="pyramid_box2_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box2_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box2_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="pyramid_box3">
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<pose>1.5 0.075 0.025 0 0 0</pose>
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<link name="pyramid_box3_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box3_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box3_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<!-- <model name="pyramid_box4">
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<pose>1.5 0.15 0.025 0 0 0</pose>
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<link name="pyramid_box4_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box4_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box4_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model> -->
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<!-- <model name="pyramid_box5">
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<pose>1.5 -0.1125 0.075 0 0 0</pose>
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<link name="pyramid_box5_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box5_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box5_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model> -->
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<model name="pyramid_box6">
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<pose>1.5 -0.0375 0.075 0 0 0</pose>
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<link name="pyramid_box6_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box6_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box6_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="pyramid_box7">
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<pose>1.5 0.0375 0.075 0 0 0</pose>
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<link name="pyramid_box7_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box7_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box7_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<!-- <model name="pyramid_box8">
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<pose>1.5 0.1125 0.075 0 0 0</pose>
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<link name="pyramid_box8_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box8_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box8_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model> -->
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<!-- <model name="pyramid_box9">
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<pose>1.5 -0.075 0.125 0 0 0</pose>
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<link name="pyramid_box9_link">
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<inertial>
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<inertia>
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<ixx>0.00005</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00005</iyy>
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<iyz>0.0</iyz>
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<izz>0.00005</izz>
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</inertia>
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<mass>0.12</mass>
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</inertial>
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<collision name="pyramid_box9_collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="pyramid_box9_visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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</link>
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</model> -->
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<model name="pyramid_box10">
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<pose>1.5 0 0.125 0 0 0</pose>
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<link name="pyramid_box10_link">
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<inertial>
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<inertia>
|
|
<ixx>0.00005</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00005</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00005</izz>
|
|
</inertia>
|
|
<mass>0.12</mass>
|
|
</inertial>
|
|
<collision name="pyramid_box10_collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="pyramid_box10_visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
<!-- <model name="pyramid_box11">
|
|
<pose>1.5 0.075 0.125 0 0 0</pose>
|
|
<link name="pyramid_box11_link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.00005</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00005</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00005</izz>
|
|
</inertia>
|
|
<mass>0.12</mass>
|
|
</inertial>
|
|
<collision name="pyramid_box11_collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="pyramid_box11_visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model> -->
|
|
|
|
<!-- <model name="pyramid_box12">
|
|
<pose>1.5 -0.0375 0.175 0 0 0</pose>
|
|
<link name="pyramid_box12_link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.00005</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00005</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00005</izz>
|
|
</inertia>
|
|
<mass>0.12</mass>
|
|
</inertial>
|
|
<collision name="pyramid_box12_collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="pyramid_box12_visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model> -->
|
|
|
|
<!-- <model name="pyramid_box13">
|
|
<pose>1.5 0.0375 0.175 0 0 0</pose>
|
|
<link name="pyramid_box13_link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.00005</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00005</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00005</izz>
|
|
</inertia>
|
|
<mass>0.12</mass>
|
|
</inertial>
|
|
<collision name="pyramid_box13_collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="pyramid_box13_visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model> -->
|
|
|
|
<!-- <model name="pyramid_box14">
|
|
<pose>1.5 0 0.225 0 0 0</pose>
|
|
<link name="pyramid_box14_link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.00005</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00005</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00005</izz>
|
|
</inertia>
|
|
<mass>0.12</mass>
|
|
</inertial>
|
|
<collision name="pyramid_box14_collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="pyramid_box14_visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.2 0.2 0.2 1</specular>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model> -->
|
|
|
|
</world>
|
|
</sdf>
|