[Jderobot-admin] jderobot-r1197 - in trunk/src/stable/components/gazeboserver: models models/circuitoMontmelo models/circuitoMontmelo/materials models/circuitoMontmelo/materials/scripts models/circuitoMontmelo/materials/textures models/paredesMontmelo worlds
jmplaza en jderobot.org
jmplaza en jderobot.org
Mar Mar 18 17:09:47 CET 2014
Author: jmplaza
Date: 2014-03-18 17:09:46 +0100 (Tue, 18 Mar 2014)
New Revision: 1197
Added:
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config
trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf
trunk/src/stable/components/gazeboserver/models/paredesMontmelo/
trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config
trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf
trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world
trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world
Log:
[jmplaza] #197 nuevos mundos de gazebo y modelos para esos mundos
Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,18 @@
+material floor
+{
+ technique
+ {
+ pass
+ {
+ ambient 0.5 0.5 0.5 1.0
+ diffuse 0.5 0.5 0.5 1.0
+ specular 0.2 0.2 0.2 1.0 12.5
+
+ texture_unit
+ {
+ texture tarmac.png
+
+ }
+ }
+ }
+}
Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
===================================================================
(Binary files differ)
Property changes on: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+ <name>CircuitoMontmelo</name>
+ <version>1.0</version>
+ <sdf version="1.4">model.sdf</sdf>
+
+ <author>
+ <name>Laura Martin</name>
+ <email></email>
+ </author>
+
+ <description>
+ Montmelo circuit.
+ </description>
+
+</model>
Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+ <model name="CircuitoMontmelo">
+ <static>true</static>
+ <link name="link">
+ <collision name="collision">
+ <geometry>
+ <box>
+ <size>20 20 0.01</size>
+ </box>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <cast_shadows>false</cast_shadows>
+ <geometry>
+ <box>
+ <size>20 20 0.01</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>model://circuitoMontmelo/materials/scripts</uri>
+ <uri>model://circuitoMontmelo/materials/textures</uri>
+ <name>floor</name>
+ </script>
+ </material>
+ </visual>
+ </link>
+ </model>
+</sdf>
Added: trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config
===================================================================
--- trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+ <name>paredesMontmelo</name>
+ <version>1.4</version>
+ <sdf>paredesMontmelo.sdf</sdf>
+
+ <author>
+ <name>Laura Martín</name>
+ <email></email>
+ </author>
+
+ <description>
+ Montmelo circuit walls.
+ </description>
+
+ <depend>
+ </depend>
+</model>
Added: trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf
===================================================================
--- trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,672 @@
+<sdf version='1.4'>
+ <model name='paredesMontmelo'>
+ <link name='Wall_100'>
+ <collision name='Wall_100_Collision'>
+ <geometry>
+ <box>
+ <size>1.861250 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_100_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>1.861250 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>6.167900 -2.328510 0.000000 0.000000 0.000000 -1.570800</pose>
+ </link>
+ <link name='Wall_101'>
+ <collision name='Wall_101_Collision'>
+ <geometry>
+ <box>
+ <size>8.292260 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_101_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>8.292260 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>3.306850 -6.020180 0.000000 0.000000 0.000000 -2.356190</pose>
+ </link>
+ <link name='Wall_102'>
+ <collision name='Wall_102_Collision'>
+ <geometry>
+ <box>
+ <size>3.118520 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_102_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>3.118520 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>1.645600 -8.050600 0.000000 0.000000 0.000000 0.605545</pose>
+ </link>
+ <link name='Wall_103'>
+ <collision name='Wall_103_Collision'>
+ <geometry>
+ <box>
+ <size>2.710610 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_103_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.710610 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>4.045190 -7.589140 0.000000 0.000000 0.000000 -0.298499</pose>
+ </link>
+ <link name='Wall_104'>
+ <collision name='Wall_104_Collision'>
+ <geometry>
+ <box>
+ <size>2.512830 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_104_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.512830 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.798730 -8.973520 0.000000 0.000000 0.000000 -1.071450</pose>
+ </link>
+ <link name='Wall_105'>
+ <collision name='Wall_105_Collision'>
+ <geometry>
+ <box>
+ <size>3.375700 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_105_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>3.375700 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.429570 -11.280800 0.000000 0.000000 0.000000 -2.191050</pose>
+ </link>
+ <link name='Wall_106'>
+ <collision name='Wall_106_Collision'>
+ <geometry>
+ <box>
+ <size>2.968750 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_106_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.968750 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>3.122270 -12.572900 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_107'>
+ <collision name='Wall_107_Collision'>
+ <geometry>
+ <box>
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+ </box>
+ </geometry>
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+ </collision>
+ <visual name='Wall_107_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>1.307500 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>1.737890 -13.126600 0.000000 0.000000 0.000000 -1.570800</pose>
+ </link>
+ <link name='Wall_108'>
+ <collision name='Wall_108_Collision'>
+ <geometry>
+ <box>
+ <size>1.901780 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_108_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>1.901780 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>0.907267 -13.865000 0.000000 0.000000 0.000000 -2.922920</pose>
+ </link>
+ <link name='Wall_86'>
+ <collision name='Wall_86_Collision'>
+ <geometry>
+ <box>
+ <size>4.005290 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_86_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.005290 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-4.907120 5.977760 0.000000 0.000000 0.000000 0.244979</pose>
+ </link>
+ <link name='Wall_87'>
+ <collision name='Wall_87_Collision'>
+ <geometry>
+ <box>
+ <size>2.453130 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
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+ <geometry>
+ <box>
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+ </box>
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+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
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+ <pose>-2.138360 7.085260 0.000000 0.000000 0.000000 0.610726</pose>
+ </link>
+ <link name='Wall_88'>
+ <collision name='Wall_88_Collision'>
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+ </box>
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+ <geometry>
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+ </link>
+ <link name='Wall_89'>
+ <collision name='Wall_89_Collision'>
+ <geometry>
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+ </box>
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+ </link>
+ <link name='Wall_90'>
+ <collision name='Wall_90_Collision'>
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+ </script>
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+ </velocity_decay>
+ <pose>1.368730 1.086290 0.000000 0.000000 0.000000 2.819840</pose>
+ </link>
+ <link name='Wall_95'>
+ <collision name='Wall_95_Collision'>
+ <geometry>
+ <box>
+ <size>2.360500 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_95_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.360500 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>0.445808 2.286080 0.000000 0.000000 0.000000 1.919570</pose>
+ </link>
+ <link name='Wall_96'>
+ <collision name='Wall_96_Collision'>
+ <geometry>
+ <box>
+ <size>2.017940 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_96_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.017940 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-0.292527 2.470670 0.000000 0.000000 0.000000 -1.989020</pose>
+ </link>
+ <link name='Wall_97'>
+ <collision name='Wall_97_Collision'>
+ <geometry>
+ <box>
+ <size>1.141200 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_97_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>1.141200 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-0.753986 1.178580 0.000000 0.000000 0.000000 -1.768190</pose>
+ </link>
+ <link name='Wall_98'>
+ <collision name='Wall_98_Collision'>
+ <geometry>
+ <box>
+ <size>6.467690 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_98_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>6.467690 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>2.199350 -0.021210 0.000000 0.000000 0.000000 -0.237836</pose>
+ </link>
+ <link name='Wall_99'>
+ <collision name='Wall_99_Collision'>
+ <geometry>
+ <box>
+ <size>1.381910 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_99_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>1.381910 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.706440 -1.128710 0.000000 0.000000 0.000000 -0.674741</pose>
+ </link>
+ <static>1</static>
+ </model>
+</sdf>
Added: trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world
===================================================================
--- trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world (rev 0)
+++ trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,2945 @@
+<sdf version='1.4'>
+ <world name='default'>
+ <model name='ground_plane'>
+ <static>1</static>
+ <link name='link'>
+ <collision name='collision'>
+ <geometry>
+ <plane>
+ <normal>0.000000 0.000000 1.000000</normal>
+ <size>100.000000 100.000000</size>
+ </plane>
+ </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>100.000000</mu>
+ <mu2>50.000000</mu2>
+ </ode>
+ </friction>
+ <bounce/>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ <max_contacts>10</max_contacts>
+ </collision>
+ <visual name='visual'>
+ <cast_shadows>0</cast_shadows>
+ <geometry>
+ <plane>
+ <normal>0.000000 0.000000 1.000000</normal>
+ <size>100.000000 100.000000</size>
+ </plane>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ </model>
+ <model name='turtlebot'>
+ <link name='rack'>
+ <inertial>
+ <pose>0.001453 -0.000453 0.029787 0.000000 0.000000 0.000000</pose>
+ <inertia>
+ <ixx>0.058640</ixx>
+ <ixy>0.000124</ixy>
+ <ixz>0.000615</ixz>
+ <iyy>0.058786</iyy>
+ <iyz>0.000014</iyz>
+ <izz>1.532440</izz>
+ </inertia>
+ <mass>2.234000</mass>
+ </inertial>
+ <collision name='plate_0_collision'>
+ <pose>-0.043340 0.000000 0.084757 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>0.233502 0.314845 0.006401</size>
+ </box>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='plate_0_visual'>
+ <pose>-0.043340 0.000000 0.084757 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/plate_0_logo.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='plate_1_collision'>
+ <pose>-0.002660 0.000000 0.141907 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>0.314856 0.314856 0.006401</size>
+ </box>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='plate_1_visual'>
+ <pose>-0.002660 0.000000 0.141907 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/plate_1_logo.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='plate_2_collision'>
+ <pose>-0.002660 0.000000 0.199108 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>0.314856 0.314856 0.006401</size>
+ </box>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='plate_2_visual'>
+ <pose>-0.002660 0.000000 0.199108 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/plate_1_logo.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='plate_3_collision'>
+ <pose>-0.015820 0.000000 0.405457 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>0.288000 0.315000 0.006401</size>
+ </box>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='plate_3_visual'>
+ <pose>-0.015820 0.000000 0.405457 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/plate_2_logo.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='spacer_0_collision'>
+ <pose>-0.002540 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.012700</radius>
+ <length>0.003175</length>
+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='spacer_0_visual'>
+ <pose>-0.002540 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='spacer_1_collision'>
+ <pose>-0.002540 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.012700</radius>
+ <length>0.003175</length>
+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='spacer_1_visual'>
+ <pose>-0.002540 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='spacer_2_collision'>
+ <pose>-0.072390 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.012700</radius>
+ <length>0.003175</length>
+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='spacer_2_visual'>
+ <pose>-0.072390 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='spacer_3_collision'>
+ <pose>-0.072390 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.012700</radius>
+ <length>0.003175</length>
+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='spacer_3_visual'>
+ <pose>-0.072390 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='standoff_2in_0_collision'>
+ <pose>0.067640 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.038100</radius>
+ <length>0.063500</length>
+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
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+ <contact>
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+ </contact>
+ </surface>
+ </collision>
+ <visual name='standoff_2in_0_visual'>
+ <pose>0.067640 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <mesh>
+ <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='standoff_2in_1_collision'>
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+ <geometry>
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+ </cylinder>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
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+ <contact>
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+ </surface>
+ </collision>
+ <visual name='standoff_2in_1_visual'>
+ <pose>0.067640 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+ <geometry>
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+ <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+ </mesh>
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+ </visual>
+ <collision name='standoff_2in_2_collision'>
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+ <max_contacts>10</max_contacts>
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+ <contact>
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+ <visual name='standoff_2in_2_visual'>
+ <pose>-0.052832 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+ <geometry>
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+ </mesh>
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+ <collision name='standoff_2in_3_collision'>
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+ </cylinder>
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+ <max_contacts>10</max_contacts>
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+ <visual name='standoff_2in_3_visual'>
+ <pose>-0.052832 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+ <geometry>
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+ <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='standoff_2in_4_collision'>
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+ <geometry>
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+ <geometry>
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+ </mesh>
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+ </visual>
+ <collision name='standoff_2in_5_collision'>
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+ <right_joint>create::right_wheel_hinge</right_joint>
+ <torque>5</torque>
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+ <uri>model://circuitoMontmelo/materials/textures</uri>
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+ <pose>-0.096754 -0.014123 0.307714 0.000172 -0.021245 0.002888</pose>
+ <velocity>0.000300 -0.000238 0.003503 0.000623 0.001125 -0.000008</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='laser'>
+ <pose>0.149364 -0.013379 0.121042 0.000172 -0.021243 0.002888</pose>
+ <velocity>-0.000008 -0.000131 0.003265 0.000463 0.000339 0.000056</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='rack'>
+ <pose>-0.003222 -0.013800 0.005776 0.000172 -0.021245 0.002888</pose>
+ <velocity>-0.000042 -0.000056 0.003470 0.000953 0.000974 0.000066</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ </model>
+ </state>
+ <model name='BuildingDefaultName'>
+ <link name='Wall_11'>
+ <collision name='Wall_11_Collision'>
+ <geometry>
+ <box>
+ <size>2.645960 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_11_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.645960 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-6.823280 -10.652200 0.000000 0.000000 0.000000 -1.570800</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_12'>
+ <collision name='Wall_12_Collision'>
+ <geometry>
+ <box>
+ <size>4.300630 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_12_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.300630 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-5.047980 -12.900900 0.000000 0.000000 0.000000 -0.523919</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_13'>
+ <collision name='Wall_13_Collision'>
+ <geometry>
+ <box>
+ <size>4.934120 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_13_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.934120 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-0.905630 -13.926600 0.000000 0.000000 0.000000 0.000000</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_8'>
+ <collision name='Wall_8_Collision'>
+ <geometry>
+ <box>
+ <size>15.191400 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_8_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>15.191400 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-6.902180 -1.775710 0.000000 0.000000 0.000000 1.570800</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_9'>
+ <collision name='Wall_9_Collision'>
+ <geometry>
+ <box>
+ <size>2.346370 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_9_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.346370 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-5.876450 5.404360 0.000000 0.000000 0.000000 -0.298499</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <static>1</static>
+ </model>
+ <gui fullscreen='0'>
+ <camera name='user_camera'>
+ <pose>49.558200 -34.186100 18.809600 0.000000 0.275643 2.356190</pose>
+ <view_controller>orbit</view_controller>
+ </camera>
+ </gui>
+ </world>
+</sdf>
Added: trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world
===================================================================
--- trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world (rev 0)
+++ trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world 2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,2128 @@
+<sdf version='1.4'>
+ <world name='default'>
+ <model name='ground_plane'>
+ <static>1</static>
+ <link name='link'>
+ <collision name='collision'>
+ <geometry>
+ <plane>
+ <normal>0.000000 0.000000 1.000000</normal>
+ <size>100.000000 100.000000</size>
+ </plane>
+ </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>100.000000</mu>
+ <mu2>50.000000</mu2>
+ </ode>
+ </friction>
+ <bounce/>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ <max_contacts>10</max_contacts>
+ </collision>
+ <visual name='visual'>
+ <cast_shadows>0</cast_shadows>
+ <geometry>
+ <plane>
+ <normal>0.000000 0.000000 1.000000</normal>
+ <size>100.000000 100.000000</size>
+ </plane>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ </model>
+ <light name='sun' type='directional'>
+ <cast_shadows>1</cast_shadows>
+ <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>
+ <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>
+ <specular>0.100000 0.100000 0.100000 1.000000</specular>
+ <attenuation>
+ <range>1000.000000</range>
+ <constant>0.900000</constant>
+ <linear>0.010000</linear>
+ <quadratic>0.001000</quadratic>
+ </attenuation>
+ <direction>-0.500000 0.500000 -1.000000</direction>
+ </light>
+ <physics type='ode'>
+ <max_step_size>0.001000</max_step_size>
+ <real_time_factor>1.000000</real_time_factor>
+ <real_time_update_rate>1000.000000</real_time_update_rate>
+ <gravity>0.000000 0.000000 -9.800000</gravity>
+ <max_contacts>20</max_contacts>
+ </physics>
+ <scene>
+ <ambient>0.200000 0.200000 0.200000 1.000000</ambient>
+ <background>0.700000 0.700000 0.700000 1.000000</background>
+ <shadows>1</shadows>
+ </scene>
+ <model name='CircuitoMontmelo'>
+ <static>1</static>
+ <link name='link'>
+ <collision name='collision'>
+ <geometry>
+ <box>
+ <size>20.000000 20.000000 0.010000</size>
+ </box>
+ </geometry>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='visual'>
+ <cast_shadows>0</cast_shadows>
+ <geometry>
+ <box>
+ <size>20.000000 20.000000 0.010000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>model://circuitoMontmelo/materials/scripts</uri>
+ <uri>model://circuitoMontmelo/materials/textures</uri>
+ <name>floor</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <pose>1.000000 -3.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ </model>
+ <state world_name='default'>
+ <sim_time>322 972000000</sim_time>
+ <real_time>34 671835997</real_time>
+ <wall_time>1395078696 451177042</wall_time>
+ <model name='pioneer2dx'>
+ <pose>-1.003750 -0.000505 0.004982 0.000123 0.000087 0.001122</pose>
+ <link name='camera_bottom_body_left'>
+ <pose>-0.843838 0.099638 0.304981 -1.569880 0.000090 0.001122</pose>
+ <velocity>0.000244 0.000082 -0.000158 -0.001524 0.000126 0.000163</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='camera_bottom_body_right'>
+ <pose>-0.843614 -0.100362 0.304956 -1.569880 0.000088 0.001122</pose>
+ <velocity>0.000278 0.000071 0.000059 -0.000767 0.000126 0.000162</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='camera_column_body_left'>
+ <pose>-0.833836 0.099647 0.319980 -1.569880 0.000090 0.001122</pose>
+ <velocity>0.000246 0.000105 -0.000159 -0.001520 0.000126 0.000163</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='camera_column_body_right'>
+ <pose>-0.833612 -0.100352 0.319955 -1.569880 0.000089 0.001122</pose>
+ <velocity>0.000276 0.000067 0.000048 -0.000678 0.000130 0.000164</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='camera_top_body_left'>
+ <pose>-0.863837 0.099614 0.314983 -1.570120 -0.000090 3.141120</pose>
+ <velocity>0.000246 0.000096 -0.000157 -0.001570 0.000125 0.000162</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='camera_top_body_right'>
+ <pose>-0.863612 -0.100385 0.314958 -1.570120 -0.000090 3.141120</pose>
+ <velocity>0.000273 0.000048 0.000044 -0.000512 0.000132 0.000165</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='chassis'>
+ <pose>-1.003740 -0.000524 0.164982 0.000123 0.000087 0.001122</pose>
+ <velocity>0.000245 -0.000101 -0.000025 -0.001060 0.000121 0.000162</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='laser'>
+ <pose>-0.783726 -0.000295 0.304963 0.000123 0.000089 0.001122</pose>
+ <velocity>0.000261 0.000059 -0.000054 -0.000559 0.000129 0.000164</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='left_wheel'>
+ <pose>-0.903933 0.169594 0.115004 -1.536690 1.564360 0.035126</pose>
+ <velocity>0.000292 -0.000094 -0.002314 -0.001174 0.000325 0.000162</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ <link name='right_wheel'>
+ <pose>-0.903552 -0.170405 0.115007 -1.534220 1.564820 0.037607</pose>
+ <velocity>0.000184 -0.000046 0.010982 -0.001023 0.000258 0.000164</velocity>
+ <acceleration>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</acceleration>
+ <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+ </link>
+ </model>
+ </state>
+ <model name='BuildingDefaultName'>
+ <link name='Wall_11'>
+ <collision name='Wall_11_Collision'>
+ <geometry>
+ <box>
+ <size>2.645960 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_11_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.645960 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-6.823280 -10.652200 0.000000 0.000000 0.000000 -1.570800</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_12'>
+ <collision name='Wall_12_Collision'>
+ <geometry>
+ <box>
+ <size>4.300630 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
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+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_12_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.300630 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-5.047980 -12.900900 0.000000 0.000000 0.000000 -0.523919</pose>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_13'>
+ <collision name='Wall_13_Collision'>
+ <geometry>
+ <box>
+ <size>4.934120 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_13_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.934120 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ <angular>0.000000</angular>
+ </velocity_decay>
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+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_8'>
+ <collision name='Wall_8_Collision'>
+ <geometry>
+ <box>
+ <size>15.191400 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <bounce/>
+ <friction>
+ <ode/>
+ </friction>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ </collision>
+ <visual name='Wall_8_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
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+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ </velocity_decay>
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+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='Wall_9'>
+ <collision name='Wall_9_Collision'>
+ <geometry>
+ <box>
+ <size>2.346370 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <max_contacts>10</max_contacts>
+ <surface>
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+ </surface>
+ </collision>
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+ <geometry>
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+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
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+ <self_collide>0</self_collide>
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+ <mu>100000.000000</mu>
+ <mu2>100000.000000</mu2>
+ <slip1>0.000000</slip1>
+ <slip2>0.000000</slip2>
+ </ode>
+ </friction>
+ <bounce/>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ <max_contacts>10</max_contacts>
+ </collision>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <link name='camera_top_body_right'>
+ <pose>0.140000 -0.100000 0.310000 -1.570000 -0.000000 3.140000</pose>
+ <inertial>
+ <mass>0.500000</mass>
+ <inertia>
+ <ixx>1.000000</ixx>
+ <ixy>0.000000</ixy>
+ <ixz>0.000000</ixz>
+ <iyy>1.000000</iyy>
+ <iyz>0.000000</iyz>
+ <izz>1.000000</izz>
+ </inertia>
+ </inertial>
+ <sensor name='cam_sensor_right' type='camera'>
+ <pose>0.000000 0.000000 0.000000 -1.570000 -0.000000 3.140000</pose>
+ <update_rate>20.000000</update_rate>
+ <camera name='__default__'>
+ <horizontal_fov>1.570000</horizontal_fov>
+ <image>
+ <width>640</width>
+ <height>480</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.300000</near>
+ <far>15.000000</far>
+ </clip>
+ </camera>
+ <plugin name='camera_dump' filename='libcamera_dump.so'/>
+ </sensor>
+ <visual name='visual'>
+ <geometry>
+ <mesh>
+ <uri>model://pioneer2dxJde/meshes/sonyvid30/sonyvid30_top.dae</uri>
+ <scale>2.000000 2.000000 1.300000</scale>
+ </mesh>
+ </geometry>
+ </visual>
+ <collision name='collision'>
+ <geometry>
+ <box>
+ <size>0.100000 0.100000 0.100000</size>
+ </box>
+ </geometry>
+ <surface>
+ <friction>
+ <ode>
+ <mu>100000.000000</mu>
+ <mu2>100000.000000</mu2>
+ <slip1>0.000000</slip1>
+ <slip2>0.000000</slip2>
+ </ode>
+ </friction>
+ <bounce/>
+ <contact>
+ <ode/>
+ </contact>
+ </surface>
+ <max_contacts>10</max_contacts>
+ </collision>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <self_collide>0</self_collide>
+ <kinematic>0</kinematic>
+ <gravity>1</gravity>
+ </link>
+ <joint name='pan_joint_right' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_bottom_body_right</child>
+ <parent>camera_column_body_right</parent>
+ <axis>
+ <xyz>0.000000 1.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='tilt_joint_right' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_column_body_right</child>
+ <parent>camera_top_body_right</parent>
+ <axis>
+ <xyz>1.000000 0.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='camera_right' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_bottom_body_right</child>
+ <parent>chassis</parent>
+ <axis>
+ <xyz>0.000000 0.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='pan_joint_left' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_bottom_body_left</child>
+ <parent>camera_column_body_left</parent>
+ <axis>
+ <xyz>0.000000 1.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='tilt_joint_left' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_column_body_left</child>
+ <parent>camera_top_body_left</parent>
+ <axis>
+ <xyz>1.000000 0.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='camera_left' type='revolute'>
+ <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <child>camera_bottom_body_left</child>
+ <parent>chassis</parent>
+ <axis>
+ <xyz>0.000000 0.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='left_wheel_hinge' type='revolute'>
+ <pose>0.000000 0.000000 -0.030000 0.000000 0.000000 0.000000</pose>
+ <child>left_wheel</child>
+ <parent>chassis</parent>
+ <axis>
+ <xyz>0.000000 1.000000 0.000000</xyz>
+ <limit>
+ <lower>-10000000000000000.000000</lower>
+ <upper>10000000000000000.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='right_wheel_hinge' type='revolute'>
+ <pose>0.000000 0.000000 0.030000 0.000000 0.000000 0.000000</pose>
+ <child>right_wheel</child>
+ <parent>chassis</parent>
+ <axis>
+ <xyz>0.000000 1.000000 0.000000</xyz>
+ <limit>
+ <lower>-10000000000000000.000000</lower>
+ <upper>10000000000000000.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <joint name='joint_laser' type='revolute'>
+ <parent>chassis</parent>
+ <child>laser</child>
+ <axis>
+ <xyz>0.000000 0.000000 0.000000</xyz>
+ <limit>
+ <lower>0.000000</lower>
+ <upper>0.000000</upper>
+ </limit>
+ </axis>
+ </joint>
+ <plugin name='motors' filename='libmotors.so'>
+ <left_joint>left_wheel_hinge</left_joint>
+ <right_joint>right_wheel_hinge</right_joint>
+ <torque>5</torque>
+ </plugin>
+ <plugin name='pose3dencoders' filename='libpose3dencoders.so'>
+ <left_joint_pose3dencoders_pan>pan_joint_right</left_joint_pose3dencoders_pan>
+ <left_joint_pose3dencoders_tilt>tilt_joint_right</left_joint_pose3dencoders_tilt>
+ <right_joint_pose3dencoders_pan>pan_joint_left</right_joint_pose3dencoders_pan>
+ <right_joint_pose3dencoders_tilt>tilt_joint_left</right_joint_pose3dencoders_tilt>
+ <torque>5</torque>
+ </plugin>
+ <plugin name='encoders' filename='libencoders.so'/>
+ <pose>-1.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+ <static>0</static>
+ </model>
+ </world>
+</sdf>
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