mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
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550 lines
14 KiB
Plaintext
550 lines
14 KiB
Plaintext
<sdf version='1.5'>
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<!-- Draw Circle -->
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<model name='ros_symbol'>
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<static>1</static>
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<link name='symbol'>
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<collision name='one_one'>
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<pose>-1.1 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='one_one'>
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<pose>-1.1 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='one_two'>
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<pose>-1.1 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='one_two'>
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<pose>-1.1 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='one_three'>
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<pose>-1.1 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='one_three'>
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<pose>-1.1 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='two_one'>
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<pose>0 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='two_one'>
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<pose>0 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='two_two'>
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<pose>0 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='two_two'>
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<pose>0 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='two_three'>
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<pose>0 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='two_three'>
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<pose>0 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='three_one'>
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<pose>1.1 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='three_one'>
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<pose>1.1 -1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='three_two'>
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<pose>1.1 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='three_two'>
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<pose>1.1 0 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<collision name='three_three'>
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<pose>1.1 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='three_three'>
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<pose>1.1 1.1 0.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.5</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<!-- Draw Hexagon -->
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<collision name='head'>
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<pose>3.5 0 -0.5 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.8 0.8 0.8</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='head'>
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<pose>3.5 0 -0.5 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.8 0.8 0.8</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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<collision name='left_hand'>
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<pose>1.8 2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='left_hand'>
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<pose>1.8 2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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<collision name='right_hand'>
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<pose>1.8 -2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='right_hand'>
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<pose>1.8 -2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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<collision name='left_foot'>
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<pose>-1.8 2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='left_foot'>
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<pose>-1.8 2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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|
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<collision name='right_foot'>
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<pose>-1.8 -2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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<scale>0.55 0.55 0.55</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
|
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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|
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<visual name='right_foot'>
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<pose>-1.8 -2.7 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
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|
<scale>0.55 0.55 0.55</scale>
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|
</mesh>
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</geometry>
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<material>
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|
<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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<!-- Draw Wall -->
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|
<collision name='body'>
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<pose>0 0 -0.3 0 0 -1.5708</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/wall.dae</uri>
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<scale>0.25 0.25 0.25</scale>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
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<ode/>
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|
</friction>
|
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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|
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<visual name='body'>
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<pose>0 0 -0.3 0 0 -1.5708</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_world/meshes/wall.dae</uri>
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<scale>0.25 0.25 0.25</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/FlatBlack</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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