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empty_world.sdf
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empty_world.sdf
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<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<light name="sun" type="directional">
<cast_shadows>1</cast_shadows>
<pose frame="">-11.8208 -19.3843 17.2198 0 -0 0</pose>
<diffuse>0.7 0.7 0.7 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>0.3698 0.4 -0.5</direction>
</light>
<model name="ground">
<static>1</static>
<link name="link">
<visual name="visual">
<cast_shadows>0</cast_shadows>
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://empty_world/meshes/emptyworldground.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose frame="">0 0 0.016 0 -0 0</pose>
<geometry>
<box>
<size>22.938 22.954 0.016</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<model name="nrppanel">
<static>1</static>
<pose frame="">-3.84038 3.49072 -1.79562 0 -0 1.55</pose>
<static>1</static>
<link name="nrppanel::body">
<collision name="nrppanel">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://nrp_panel/meshes/nrppanel-coll.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name="nrppanel">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://nrp_panel/meshes/nrppanel.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<pose frame="">0 0 0 0 -0 0</pose>
</link>
</model>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<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">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<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>
<model name="hbp/conveyor_0">
<pose frame="">-1.14811 -1.0005 0.024182 0 -0 0</pose>
<self_collide>0</self_collide>
<static>0</static>
<link name="conveyor_belt::link">
<inertial>
<pose frame="">1.58245 -0.316965 0.773765 0 -0 0</pose>
<mass>1000</mass>
<inertia>
<ixx>22.111</ixx>
<ixy>-2.43</ixy>
<ixz>0.23</ixz>
<iyy>415.156</iyy>
<iyz>6.932</iyz>
<izz>426.628</izz>
</inertia>
</inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<visual name="belt_mesh">
<geometry>
<mesh>
<uri>model://conveyor/meshes/model.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<collision name="belt_mesh">
<geometry>
<mesh>
<uri>model://conveyor/meshes/model.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name="conveyor_belt::belt">
<pose frame="">1.502 -0.322 0.795 0 -0 0</pose>
<collision name="belt_collision">
<geometry>
<box>
<size>3.2 0.65461 0.18862</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
<torsional>
<coefficient>1000</coefficient>
<patch_radius>0.1</patch_radius>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</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>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<joint name="world_conveyor" type="revolute">
<parent>world</parent>
<child>conveyor_belt::link</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name="conveyor_belt::belt_joint" type="prismatic">
<parent>conveyor_belt::link</parent>
<child>conveyor_belt::belt</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>1</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<plugin name="conveyor_belt_plugin" filename="libROSConveyorBeltPlugin.so">
<robot_namespace/>
<population_rate_modifier_topic>/ariac/population/rate_modifier</population_rate_modifier_topic>
<link>conveyor_belt::belt</link>
<joint>conveyor_belt::belt_joint</joint>
<power>100</power>
</plugin>
</model>
<!-- ########### camera ########### -->
<!-- ########### camera ########### -->
<!-- ########### camera ########### -->
<!-- ########### camera ########### -->
<!-- camera_mount -->
<model name="camera">
<static>1</static>
<link name='camera_mount_link'>
<pose>0.8 -1.2 2 0 1.57 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision_camera_mount">
<geometry>
<box>
<size> 0.02 0.05 0.05 </size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name="visual_camera_mount">
<geometry>
<box>
<size> 0.02 0.05 0.05 </size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<sensor type="camera" name="camera">
<pose>0.01 0 0 0 0 0</pose>
<update_rate>30.0</update_rate>
<always_on>1</always_on>
<visualize>true</visualize>
<topic>/camera/image_raw</topic>
<camera name="camera">
<horizontal_fov>1.570796</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_mount_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
<joint name='camera_mount_joint' type='revolute'>
<child>conveyor_belt::link</child>
<parent>camera_base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>1000</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
</model>
<!-- ########### camera end ########### -->
<!-- ########### camera end ########### -->
<!-- ########### camera end ########### -->
<!-- ########### camera end ########### -->
<!--Kuka Arm-->
<include>
<uri>model://kuka_iiwa_14_prismatic_gripper</uri>
<pose>0 0 0.5 0 -0 0</pose>
</include>
<state world_name="default">
<sim_time>215 662000000</sim_time>
<real_time>0 0</real_time>
<wall_time>1554371004 543925984</wall_time>
<iterations>0</iterations>
<model name="ground">
<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>
<model name="hbp/conveyor_0">
<pose frame="">-1.31671 -0.876838 0.023994 0 -0 0</pose>
<scale>1 1 1</scale>
<link name="conveyor_belt::belt">
<pose frame="">0.251268 -1.19884 0.818994 -1e-06 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>
<link name="conveyor_belt::link">
<pose frame="">-1.31671 -0.876838 0.023994 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>
<model name="nrppanel">
<pose frame="">-3.84038 3.49072 -1.79562 0 -0 1.55</pose>
<scale>1 1 1</scale>
<link name="nrppanel::body">
<pose frame="">-3.84038 3.49072 -1.79562 0 -0 1.55</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="">-11.8208 -19.3843 17.2198 0 -0 0</pose>
</light>
</state>
</world>
</sdf>