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Made apartment static #15

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11 changes: 11 additions & 0 deletions models/csra_simplified/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<model>
<name>csra_simplified</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>
96 changes: 96 additions & 0 deletions models/csra_simplified/model.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,96 @@
<?xml version='1.0'?>
<sdf version='1.7'>
<model name='csra_simplified'>
<link name='link_0'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<pose>3e-06 -0 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/lvonseelstrang/Documents/tobi_sim/models/csra_simplified/meshes/CSRA_simplified.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'/>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/lvonseelstrang/Documents/tobi_sim/models/csra_simplified/meshes/CSRA_simplified.dae</uri>
<scale>1 1 1</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>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
182 changes: 177 additions & 5 deletions worlds/apartment.world
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='test'>
<static>1</static>
<link name='link_0'>
<inertial>
<mass>1</mass>
Expand Down Expand Up @@ -200,6 +201,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_1' type='point'>
<pose>-2.01708 1.00117 1 0 -0 0</pose>
Expand All @@ -213,6 +219,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_2' type='point'>
<pose>-4.04832 -0.94365 1 0 -0 0</pose>
Expand All @@ -226,6 +237,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_3' type='point'>
<pose>-4.02815 0.865196 1 0 -0 0</pose>
Expand All @@ -239,6 +255,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_spot_light_0' type='spot'>
<pose>2.14082 1.90911 1 0 -0 0</pose>
Expand Down Expand Up @@ -270,6 +291,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_5' type='point'>
<pose>0.658993 -3.45623 1 0 -0 0</pose>
Expand All @@ -283,6 +309,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_6' type='point'>
<pose>0.767843 -3.76661 1 0 -0 0</pose>
Expand All @@ -296,6 +327,11 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<light name='user_point_light_7' type='point'>
<pose>-4.68446 -3.43529 1 0 -0 0</pose>
Expand All @@ -309,12 +345,27 @@
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<state world_name='default'>
<sim_time>7 856000000</sim_time>
<real_time>7 889344505</real_time>
<wall_time>1705506406 498183250</wall_time>
<iterations>7856</iterations>
<sim_time>276 703000000</sim_time>
<real_time>269 583202992</real_time>
<wall_time>1705600552 737063403</wall_time>
<iterations>268847</iterations>
<model name='cracker_box'>
<pose>-3.67972 1.89221 0.92199 0 3e-06 1.0951</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-3.67972 1.89221 0.92199 0 3e-06 1.0951</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 -9.8 0 -0 0</acceleration>
<wrench>0 0 -4.0278 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
Expand All @@ -325,6 +376,16 @@
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='pringles'>
<pose>-1.72953 1.41319 0.849867 -0.000109 -0.000191 1.7e-05</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-1.72953 1.41319 0.849867 -0.000109 -0.000191 1.7e-05</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0.010381 -0.004896 -0.00355 0 -0 0</acceleration>
<wrench>0.002595 -0.001224 -0.000888 0 -0 0</wrench>
</link>
</model>
<model name='test'>
<pose>-5.98747 -0.749299 0 0 -0 0</pose>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -368,10 +429,121 @@
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>13.3311 3.36461 14.7455 0 0.841799 -2.81899</pose>
<pose>2.83081 5.14448 6.74948 0 1.0218 -2.52299</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='pringles'>
<static>0</static>
<link name='link'>
<inertial>
<mass>0.25</mass>
<inertia>
<ixx>0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.235</length>
</cylinder>
</geometry>
<surface>
<bounce/>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.235</length>
</cylinder>
</geometry>
<material>
<script>
<uri>model://pringles/material/scripts</uri>
<uri>model://pringles/material/textures</uri>
<name>Custom/pringles</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<enable_wind>0</enable_wind>
</link>
<pose>-1.72935 1.41331 0 0 -0 0</pose>
</model>
<model name='cracker_box'>
<link name='link'>
<inertial>
<mass>0.411</mass>
<inertia>
<ixx>0.00236544</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00163372</iyy>
<iyz>0</iyz>
<izz>0.000978317</izz>
</inertia>
<pose>0 0 0.105 0 -0 0</pose>
</inertial>
<collision name='collision'>
<pose>0 0 0.105 0 -0 0</pose>
<geometry>
<box>
<size>0.06 0.158 0.21</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<pose>0.015 0.015 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://cracker_box/meshes/textured.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-3.69345 1.24687 0 0 -0 0</pose>
</model>
</world>
</sdf>
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