From: Raul Cataluna Athayde <raul.cataluna@outlook.com>
Date: Tue, 23 Nov 2021 05:07:32 +0000 (-0300)
Subject: world usado no tcc
X-Git-Tag: raulTCC~1
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f4e3923c52632759d574f49597052c497b223fb8;p=ufrgs_gazebo.git

world usado no tcc
---

diff --git a/worlds/centenario_stairs1.world b/worlds/centenario_stairs1.world
new file mode 100644
index 0000000..aad94be
--- /dev/null
+++ b/worlds/centenario_stairs1.world
@@ -0,0 +1,3132 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 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>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <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>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <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='Centenario'>
+      <pose>-0.118577 7.44241 0 0 -0 0</pose>
+      <link name='Stairs_0'>
+        <visual name='Stairs_0_Visual_0'>
+          <pose>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_0'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_1'>
+          <pose>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_1'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_2'>
+          <pose>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_2'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_3'>
+          <pose>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_3'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_4'>
+          <pose>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_4'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_5'>
+          <pose>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_5'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_6'>
+          <pose>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_6'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_7'>
+          <pose>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_7'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_8'>
+          <pose>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_8'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_9'>
+          <pose>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_9'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_10'>
+          <pose>-0.034964 -1.71539 1.75 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_10'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -1.71539 1.75 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_11'>
+          <pose>-0.034964 -1.48206 1.91667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_11'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -1.48206 1.91667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_12'>
+          <pose>-0.034964 -1.24872 2.08333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_12'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -1.24872 2.08333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_13'>
+          <pose>-0.034964 -1.01539 2.25 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_13'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -1.01539 2.25 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_14'>
+          <pose>-0.034964 -0.782057 2.41667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_14'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose>-0.034964 -0.782057 2.41667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_1'>
+        <collision name='Wall_1_Collision'>
+          <geometry>
+            <box>
+              <size>17.25 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
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