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gmfrickegmfricke
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Replaced the crates with rocks
These rocks are the ones we will use in the competition.
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‎simulation/worlds/simple_obstacle_example.world‎

Lines changed: 163 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -3730,10 +3730,10 @@
37303730
<pose frame=''>2.07506 -3.64063 0 0 -0 0</pose>
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</model>
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<state world_name='default'>
3733-
<sim_time>0 0</sim_time>
3734-
<real_time>0 0</real_time>
3735-
<wall_time>1505513777 900865668</wall_time>
3736-
<iterations>0</iterations>
3733+
<sim_time>81 191000000</sim_time>
3734+
<real_time>95 624780297</real_time>
3735+
<wall_time>1515802810 306638353</wall_time>
3736+
<iterations>81191</iterations>
37373737
<model name='at0'>
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<pose frame=''>-4.89048 0.994146 0.025 0 -0 0</pose>
37393739
<scale>1 1 1</scale>
@@ -4374,41 +4374,41 @@
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
4377-
<model name='box_1'>
4378-
<pose frame=''>1.51158 -2.57722 0.25 0 -0 0</pose>
4377+
<model name='ground_plane'>
4378+
<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
4381-
<pose frame=''>1.51158 -2.57722 0.25 0 -0 0</pose>
4381+
<pose frame=''>0 0 0 0 -0 0</pose>
43824382
<velocity>0 0 0 0 -0 0</velocity>
43834383
<acceleration>0 0 0 0 -0 0</acceleration>
43844384
<wrench>0 0 0 0 -0 0</wrench>
43854385
</link>
43864386
</model>
4387-
<model name='box_2'>
4388-
<pose frame=''>-4.46665 2.4843 0.25 0 -0 0</pose>
4387+
<model name='rock_barrier'>
4388+
<pose frame=''>-3.933 2.40602 0 0 -0 0</pose>
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<scale>1 1 1</scale>
43904390
<link name='link'>
4391-
<pose frame=''>-4.46665 2.4843 0.25 0 -0 0</pose>
4391+
<pose frame=''>-3.933 2.40602 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
43934393
<acceleration>0 0 0 0 -0 0</acceleration>
43944394
<wrench>0 0 0 0 -0 0</wrench>
43954395
</link>
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</model>
4397-
<model name='box_3'>
4398-
<pose frame=''>-3.4216 -3.47547 0.25 0 -0 0</pose>
4397+
<model name='rock_barrier_0'>
4398+
<pose frame=''>-2.91952 -2.79384 0 0 -0 0.822452</pose>
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<scale>1 1 1</scale>
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<link name='link'>
4401-
<pose frame=''>-3.4216 -3.47547 0.25 0 -0 0</pose>
4401+
<pose frame=''>-2.91952 -2.79384 0 0 -0 0.822452</pose>
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<velocity>0 0 0 0 -0 0</velocity>
44034403
<acceleration>0 0 0 0 -0 0</acceleration>
44044404
<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
4407-
<model name='ground_plane'>
4408-
<pose frame=''>0 0 0 0 -0 0</pose>
4407+
<model name='rock_barrier_1'>
4408+
<pose frame=''>0.624346 -1.95031 0 0 0 -0.833379</pose>
44094409
<scale>1 1 1</scale>
44104410
<link name='link'>
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4411+
<pose frame=''>0.624346 -1.95031 0 0 0 -0.833379</pose>
44124412
<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
@@ -4425,176 +4425,260 @@
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
4428-
<model name='box_1'>
4429-
<pose frame=''>-1.51909 -2.52645 0.25 0 -0 0</pose>
4428+
<model name='rock_barrier'>
44304429
<static>1</static>
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<link name='link'>
4431+
<pose frame=''>0 0 0 0 -0 0</pose>
44324432
<inertial>
4433-
<mass>0.01</mass>
4433+
<mass>1</mass>
44344434
<inertia>
4435-
<ixx>4e-05</ixx>
4435+
<ixx>0.166667</ixx>
44364436
<ixy>0</ixy>
44374437
<ixz>0</ixz>
4438-
<iyy>4e-05</iyy>
4438+
<iyy>0.166667</iyy>
44394439
<iyz>0</iyz>
4440-
<izz>4e-05</izz>
4440+
<izz>0.166667</izz>
44414441
</inertia>
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</inertial>
44434443
<visual name='visual'>
4444+
<pose frame=''>0 0 0 0 -0 0</pose>
44444445
<geometry>
4445-
<box>
4446-
<size>0.5 0.5 0.5</size>
4447-
</box>
4446+
<mesh>
4447+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4448+
<scale>1 1 1</scale>
4449+
</mesh>
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</geometry>
44494451
<material>
4452+
<lighting>1</lighting>
44504453
<script>
4451-
<uri>model://box/materials/scripts</uri>
4452-
<uri>model://box/materials/textures</uri>
4453-
<name>box/Diffuse</name>
4454+
<uri>model://rock_barrier</uri>
4455+
<name>rock_barrier/Diffuse</name>
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</script>
44554457
</material>
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</visual>
44574459
<collision name='collision'>
4460+
<laser_retro>0</laser_retro>
4461+
<max_contacts>10</max_contacts>
4462+
<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
4459-
<box>
4460-
<size>0.5 0.5 0.5</size>
4461-
</box>
4464+
<mesh>
4465+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4466+
<scale>1 1 1</scale>
4467+
</mesh>
44624468
</geometry>
44634469
<surface>
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<friction>
44654471
<ode>
4466-
<mu>0.8</mu>
4467-
<mu2>0.7</mu2>
4472+
<mu>1</mu>
4473+
<mu2>1</mu2>
4474+
<fdir1>0 0 0</fdir1>
4475+
<slip1>0</slip1>
4476+
<slip2>0</slip2>
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</ode>
44694478
<torsional>
4470-
<ode/>
4479+
<coefficient>1</coefficient>
4480+
<patch_radius>0</patch_radius>
4481+
<surface_radius>0</surface_radius>
4482+
<use_patch_radius>1</use_patch_radius>
4483+
<ode>
4484+
<slip>0</slip>
4485+
</ode>
44714486
</torsional>
44724487
</friction>
4488+
<bounce>
4489+
<restitution_coefficient>0</restitution_coefficient>
4490+
<threshold>1e+06</threshold>
4491+
</bounce>
44734492
<contact>
4474-
<ode/>
4493+
<collide_without_contact>0</collide_without_contact>
4494+
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4495+
<collide_bitmask>1</collide_bitmask>
4496+
<ode>
4497+
<soft_cfm>0</soft_cfm>
4498+
<soft_erp>0.2</soft_erp>
4499+
<kp>1e+13</kp>
4500+
<kd>1</kd>
4501+
<max_vel>0.01</max_vel>
4502+
<min_depth>0</min_depth>
4503+
</ode>
44754504
</contact>
4476-
<bounce/>
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</surface>
4478-
<max_contacts>10</max_contacts>
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</collision>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
4511+
<pose frame=''>-3.933 2.40602 0 0 -0 0</pose>
44844512
</model>
4485-
<model name='box_2'>
4486-
<pose frame=''>-2.20079 -0.83692 0.25 0 -0 0</pose>
4513+
<model name='rock_barrier_0'>
44874514
<static>1</static>
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<link name='link'>
4516+
<pose frame=''>0 0 0 0 -0 0</pose>
44894517
<inertial>
4490-
<mass>0.01</mass>
4518+
<mass>1</mass>
44914519
<inertia>
4492-
<ixx>4e-05</ixx>
4520+
<ixx>0.166667</ixx>
44934521
<ixy>0</ixy>
44944522
<ixz>0</ixz>
4495-
<iyy>4e-05</iyy>
4523+
<iyy>0.166667</iyy>
44964524
<iyz>0</iyz>
4497-
<izz>4e-05</izz>
4525+
<izz>0.166667</izz>
44984526
</inertia>
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</inertial>
45004528
<visual name='visual'>
4529+
<pose frame=''>0 0 0 0 -0 0</pose>
45014530
<geometry>
4502-
<box>
4503-
<size>0.5 0.5 0.5</size>
4504-
</box>
4531+
<mesh>
4532+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4533+
<scale>1 1 1</scale>
4534+
</mesh>
45054535
</geometry>
45064536
<material>
4537+
<lighting>1</lighting>
45074538
<script>
4508-
<uri>model://box/materials/scripts</uri>
4509-
<uri>model://box/materials/textures</uri>
4510-
<name>box/Diffuse</name>
4539+
<uri>model://rock_barrier</uri>
4540+
<name>rock_barrier/Diffuse</name>
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</script>
45124542
</material>
45134543
</visual>
45144544
<collision name='collision'>
4545+
<laser_retro>0</laser_retro>
4546+
<max_contacts>10</max_contacts>
4547+
<pose frame=''>0 0 0 0 -0 0</pose>
45154548
<geometry>
4516-
<box>
4517-
<size>0.5 0.5 0.5</size>
4518-
</box>
4549+
<mesh>
4550+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4551+
<scale>1 1 1</scale>
4552+
</mesh>
45194553
</geometry>
45204554
<surface>
45214555
<friction>
45224556
<ode>
4523-
<mu>0.8</mu>
4524-
<mu2>0.7</mu2>
4557+
<mu>1</mu>
4558+
<mu2>1</mu2>
4559+
<fdir1>0 0 0</fdir1>
4560+
<slip1>0</slip1>
4561+
<slip2>0</slip2>
45254562
</ode>
45264563
<torsional>
4527-
<ode/>
4564+
<coefficient>1</coefficient>
4565+
<patch_radius>0</patch_radius>
4566+
<surface_radius>0</surface_radius>
4567+
<use_patch_radius>1</use_patch_radius>
4568+
<ode>
4569+
<slip>0</slip>
4570+
</ode>
45284571
</torsional>
45294572
</friction>
4573+
<bounce>
4574+
<restitution_coefficient>0</restitution_coefficient>
4575+
<threshold>1e+06</threshold>
4576+
</bounce>
45304577
<contact>
4531-
<ode/>
4578+
<collide_without_contact>0</collide_without_contact>
4579+
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4580+
<collide_bitmask>1</collide_bitmask>
4581+
<ode>
4582+
<soft_cfm>0</soft_cfm>
4583+
<soft_erp>0.2</soft_erp>
4584+
<kp>1e+13</kp>
4585+
<kd>1</kd>
4586+
<max_vel>0.01</max_vel>
4587+
<min_depth>0</min_depth>
4588+
</ode>
45324589
</contact>
4533-
<bounce/>
45344590
</surface>
4535-
<max_contacts>10</max_contacts>
45364591
</collision>
45374592
<self_collide>0</self_collide>
45384593
<kinematic>0</kinematic>
45394594
<gravity>1</gravity>
45404595
</link>
4596+
<pose frame=''>-2.91952 -2.79384 0 0 -0 0</pose>
45414597
</model>
4542-
<model name='box_3'>
4543-
<pose frame=''>-2.69801 -1.91588 0.25 0 -0 0</pose>
4598+
<model name='rock_barrier_1'>
45444599
<static>1</static>
45454600
<link name='link'>
4601+
<pose frame=''>0 0 0 0 -0 0</pose>
45464602
<inertial>
4547-
<mass>0.01</mass>
4603+
<mass>1</mass>
45484604
<inertia>
4549-
<ixx>4e-05</ixx>
4605+
<ixx>0.166667</ixx>
45504606
<ixy>0</ixy>
45514607
<ixz>0</ixz>
4552-
<iyy>4e-05</iyy>
4608+
<iyy>0.166667</iyy>
45534609
<iyz>0</iyz>
4554-
<izz>4e-05</izz>
4610+
<izz>0.166667</izz>
45554611
</inertia>
45564612
</inertial>
45574613
<visual name='visual'>
4614+
<pose frame=''>0 0 0 0 -0 0</pose>
45584615
<geometry>
4559-
<box>
4560-
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4561-
</box>
4616+
<mesh>
4617+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4618+
<scale>1 1 1</scale>
4619+
</mesh>
45624620
</geometry>
45634621
<material>
4622+
<lighting>1</lighting>
45644623
<script>
4565-
<uri>model://box/materials/scripts</uri>
4566-
<uri>model://box/materials/textures</uri>
4567-
<name>box/Diffuse</name>
4624+
<uri>model://rock_barrier</uri>
4625+
<name>rock_barrier/Diffuse</name>
45684626
</script>
45694627
</material>
45704628
</visual>
45714629
<collision name='collision'>
4630+
<laser_retro>0</laser_retro>
4631+
<max_contacts>10</max_contacts>
4632+
<pose frame=''>0 0 0 0 -0 0</pose>
45724633
<geometry>
4573-
<box>
4574-
<size>0.5 0.5 0.5</size>
4575-
</box>
4634+
<mesh>
4635+
<uri>model://rock_barrier/rock_barrier.stl</uri>
4636+
<scale>1 1 1</scale>
4637+
</mesh>
45764638
</geometry>
45774639
<surface>
45784640
<friction>
45794641
<ode>
4580-
<mu>0.8</mu>
4581-
<mu2>0.7</mu2>
4642+
<mu>1</mu>
4643+
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4644+
<fdir1>0 0 0</fdir1>
4645+
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4646+
<slip2>0</slip2>
45824647
</ode>
45834648
<torsional>
4584-
<ode/>
4649+
<coefficient>1</coefficient>
4650+
<patch_radius>0</patch_radius>
4651+
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4652+
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4653+
<ode>
4654+
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4655+
</ode>
45854656
</torsional>
45864657
</friction>
4658+
<bounce>
4659+
<restitution_coefficient>0</restitution_coefficient>
4660+
<threshold>1e+06</threshold>
4661+
</bounce>
45874662
<contact>
4588-
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4663+
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4664+
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
4665+
<collide_bitmask>1</collide_bitmask>
4666+
<ode>
4667+
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4668+
<soft_erp>0.2</soft_erp>
4669+
<kp>1e+13</kp>
4670+
<kd>1</kd>
4671+
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4672+
<min_depth>0</min_depth>
4673+
</ode>
45894674
</contact>
4590-
<bounce/>
45914675
</surface>
4592-
<max_contacts>10</max_contacts>
45934676
</collision>
45944677
<self_collide>0</self_collide>
45954678
<kinematic>0</kinematic>
45964679
<gravity>1</gravity>
45974680
</link>
4681+
<pose frame=''>0.624346 -1.95031 0 0 -0 0</pose>
45984682
</model>
45994683
</world>
46004684
</sdf>

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