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parkour_world.sdf
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parkour_world.sdf
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<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>1.01</mu>
<mu2>1.01</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>100000</kp>
<kd>1</kd>
<max_vel>100</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>100</iters>
<precon_iters>0</precon_iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>8636 417000000</sim_time>
<real_time>109 902827846</real_time>
<wall_time>1569273006 221439831</wall_time>
<iterations>7653187</iterations>
<model name='RoboyParkourTrack'>
<pose frame=''>-8.96284 1.6153 -3.8e-05 -0.004739 -0.000649 2e-06</pose>
<scale>1 1 1</scale>
<link name='mesh_link'>
<pose frame=''>-8.96284 1.6153 -3.8e-05 -0.004739 -0.000649 2e-06</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 frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 20 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-15.2247 -12.6409 6.04633 0 0.207643 0.861002</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='RoboyParkourTrack'>
<link name='mesh_link'>
<kinematic>1</kinematic>
<visual name='track_visual'>
<geometry>
<mesh>
<uri>model://RoboyParkourTrack/RoboyParkourChallengeTrack-Simplistic-2019-09-23.stl</uri>
<scale>0.0001 0.0001 0.0001</scale>
</mesh>
</geometry>
</visual>
<collision name='track_collision'>
<geometry>
<mesh>
<uri>model://RoboyParkourTrack/RoboyParkourChallengeTrack-Simplistic-2019-09-23.stl</uri>
<scale>0.0001 0.0001 0.0001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0.05</restitution_coefficient>
<threshold>0</threshold>
</bounce>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>1000</max_contacts>
</collision>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>-8.96284 1.6153 0 0 -0 0</pose>
</model>
</world>
</sdf>