Month: June 2024
Sensitivity analysis using MATLAB
I am doing a project on epidemic models. I have derived a formula for basic reproduction number and now I want to analysis its sensitivity to different parameters in the formula. I have come across PRCC (Partial Rank Correlation Coefficient) analysis (which makes use of Latin Hypercube Sampling, I suppose – I am not sure). How can I do this sort of sensitivity analysis using MATLAB?I am doing a project on epidemic models. I have derived a formula for basic reproduction number and now I want to analysis its sensitivity to different parameters in the formula. I have come across PRCC (Partial Rank Correlation Coefficient) analysis (which makes use of Latin Hypercube Sampling, I suppose – I am not sure). How can I do this sort of sensitivity analysis using MATLAB? I am doing a project on epidemic models. I have derived a formula for basic reproduction number and now I want to analysis its sensitivity to different parameters in the formula. I have come across PRCC (Partial Rank Correlation Coefficient) analysis (which makes use of Latin Hypercube Sampling, I suppose – I am not sure). How can I do this sort of sensitivity analysis using MATLAB? partial rank correlation coefficient, latin hypercube sampling, sensitivity analysis MATLAB Answers — New Questions
How to make Synthesis nonlinear spring
How can i make synthesis of nonlinear springHow can i make synthesis of nonlinear spring How can i make synthesis of nonlinear spring optimization MATLAB Answers — New Questions
Fuel cell lookup table
The fuel cell lookup table generated from the spreadsheet via-https://ww2.mathworks.cn/help/autoblks/ug/generate-mapped-fuel-cell-from-a-spreadsheet.html
However, based on the data,the fuel cell efficiency looks always over 60% which is unrealistic.
Is there something wrong from built-in spreadsheet?The fuel cell lookup table generated from the spreadsheet via-https://ww2.mathworks.cn/help/autoblks/ug/generate-mapped-fuel-cell-from-a-spreadsheet.html
However, based on the data,the fuel cell efficiency looks always over 60% which is unrealistic.
Is there something wrong from built-in spreadsheet? The fuel cell lookup table generated from the spreadsheet via-https://ww2.mathworks.cn/help/autoblks/ug/generate-mapped-fuel-cell-from-a-spreadsheet.html
However, based on the data,the fuel cell efficiency looks always over 60% which is unrealistic.
Is there something wrong from built-in spreadsheet? fuel cell, lookup table, efficiency, heat flow MATLAB Answers — New Questions
I am having trouble reading a txt file
I have txt file with data formated below but Im only get the first line .
index: 0 int_time: 1718984569904518 us int_diff: 0 us min: 167 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
here is the code im using utilising textscan
fid=fopen(‘Desktopdata.txt’,’rt’);
data=textscan(fid,’%[index: 0 int_time:] %u64 %[us_int_diff: ] %s %s %s %s %s %s %s %s’)
fclose(fid);I have txt file with data formated below but Im only get the first line .
index: 0 int_time: 1718984569904518 us int_diff: 0 us min: 167 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
here is the code im using utilising textscan
fid=fopen(‘Desktopdata.txt’,’rt’);
data=textscan(fid,’%[index: 0 int_time:] %u64 %[us_int_diff: ] %s %s %s %s %s %s %s %s’)
fclose(fid); I have txt file with data formated below but Im only get the first line .
index: 0 int_time: 1718984569904518 us int_diff: 0 us min: 167 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
index: 1 int_time: 1718984569904682 us int_diff: 164 us min: 164 us max: 167 us
here is the code im using utilising textscan
fid=fopen(‘Desktopdata.txt’,’rt’);
data=textscan(fid,’%[index: 0 int_time:] %u64 %[us_int_diff: ] %s %s %s %s %s %s %s %s’)
fclose(fid); textscan MATLAB Answers — New Questions
File Explorer stealing back focus when opening files from “Recent” listing
Not sure if you have noticed the same happening for you, but it seems to be something that started after a recent update (I’m on Win 11 Enterprise 23H2 – 2261.3155). When opening files that are in the “Recent” list in File Explorer, after the associated program launches and loads said file, the Explorer window seems to steal back focus. I suspect it’s due to Explorer pulling a refresh itself of the “Recent” section, putting the file I just launched to the top of the “Recent” list. I’m able to reproduce this about 8 times out of 10 attempts.
Just to be sure, I’ve confirmed that it happens with both local files on the hard drive as well as Onedrive files (irrespective of them being online-only or locally sync’d). Also, file type (i.e. notepad, word, pdf). Have any of you noticed this behavior? If I recall correctly, I’ve noticed this for approximately the past month, and have been on Win 11 since pre-public days.
Lastly, this is reproducible in other machines as well that I have the same build installed on (both newer laptops and desktops), so it does not appear to be hardware-related. Thanks in advance for any feedback.
Not sure if you have noticed the same happening for you, but it seems to be something that started after a recent update (I’m on Win 11 Enterprise 23H2 – 2261.3155). When opening files that are in the “Recent” list in File Explorer, after the associated program launches and loads said file, the Explorer window seems to steal back focus. I suspect it’s due to Explorer pulling a refresh itself of the “Recent” section, putting the file I just launched to the top of the “Recent” list. I’m able to reproduce this about 8 times out of 10 attempts. Just to be sure, I’ve confirmed that it happens with both local files on the hard drive as well as Onedrive files (irrespective of them being online-only or locally sync’d). Also, file type (i.e. notepad, word, pdf). Have any of you noticed this behavior? If I recall correctly, I’ve noticed this for approximately the past month, and have been on Win 11 since pre-public days. Lastly, this is reproducible in other machines as well that I have the same build installed on (both newer laptops and desktops), so it does not appear to be hardware-related. Thanks in advance for any feedback. Read More
Organizing Music Collection on SSD in Windows 11
I have a moderate size music collection which I’m recording from CD to SSD. I’ve created a Primary folder and set it up with the information required. All CDs are copied to their own folder. Modifying the look of the folders is no problem, however, when I try to get all folders to conform to the primary with the information in the primary folder some will and some won’t. Each folder requires 8 columns. I can go down about 8 folders and they are all the same, yet I can go to the ninth and there are 3 columns. I’ve used the OPTIONS>VIEW>APPLY TO ALL FOLDERS using the primary folder but with no luck. Am I assuming that the look of the primary folder should apply to all folders or is it done manually. I am using Windows 11, VERSION 23H2, 11/28/2023. Any help would be greatly appreciated and thanks in advance.
I have a moderate size music collection which I’m recording from CD to SSD. I’ve created a Primary folder and set it up with the information required. All CDs are copied to their own folder. Modifying the look of the folders is no problem, however, when I try to get all folders to conform to the primary with the information in the primary folder some will and some won’t. Each folder requires 8 columns. I can go down about 8 folders and they are all the same, yet I can go to the ninth and there are 3 columns. I’ve used the OPTIONS>VIEW>APPLY TO ALL FOLDERS using the primary folder but with no luck. Am I assuming that the look of the primary folder should apply to all folders or is it done manually. I am using Windows 11, VERSION 23H2, 11/28/2023. Any help would be greatly appreciated and thanks in advance. Read More
The Documents folder is not grouped to the other folders such as Downloads
I have a fresh installation of Windows 11 Pro, about a couple weeks old or so. The Documents folder was stubbornly stuck on OneDrive. I followed a YouTube video that showed how to move it successfully. Afterwards I removed OneDrive from startup but didn’t remove it altogether.
I won’t go into the details of my attempted fix. But the lingering side effect is the local Documents folder lacks an icon and will NOT even browse for an icon. I even have an extracted icon file, from imageres.dll, for the Documents folder. But the folder properties box on the Customize tab does not have the usual buttons (Choose File & Restore Default) to prompt for an icon change. I had those buttons yesterday, which didn’t work. But after tampering with the registry, even those buttons are gone.
The easiest option is to simply reinstall the OS from scratch. But then I’d lose a couple weeks of software installs and configurations. The other option is to live with it.
You can see the attached screenshots for more details. The Documents folder is not grouped to the other folders such as Downloads.
Hopefully someone can help?
I have a fresh installation of Windows 11 Pro, about a couple weeks old or so. The Documents folder was stubbornly stuck on OneDrive. I followed a YouTube video that showed how to move it successfully. Afterwards I removed OneDrive from startup but didn’t remove it altogether. I won’t go into the details of my attempted fix. But the lingering side effect is the local Documents folder lacks an icon and will NOT even browse for an icon. I even have an extracted icon file, from imageres.dll, for the Documents folder. But the folder properties box on the Customize tab does not have the usual buttons (Choose File & Restore Default) to prompt for an icon change. I had those buttons yesterday, which didn’t work. But after tampering with the registry, even those buttons are gone. The easiest option is to simply reinstall the OS from scratch. But then I’d lose a couple weeks of software installs and configurations. The other option is to live with it. You can see the attached screenshots for more details. The Documents folder is not grouped to the other folders such as Downloads.Hopefully someone can help? Read More
Frequent Critical Events on Dell Mini Tower 3910
Two weeks ago, my Dell Mini tower 3910 started showing frequent critical events in the reliability monitor-Microsoft Storage Spaces SMP stopped working. This happens once or twice a day. It can occur by itself or with another fault. I’m at a loss to determine the cause.
I back up with Macrium twice a month, use Malwarebytes Premium services., have no infections, items in quarantine or other significant problems.
Is this a known defect? Is there a solution?
Thank you for any assistance and ideas.
Two weeks ago, my Dell Mini tower 3910 started showing frequent critical events in the reliability monitor-Microsoft Storage Spaces SMP stopped working. This happens once or twice a day. It can occur by itself or with another fault. I’m at a loss to determine the cause. I back up with Macrium twice a month, use Malwarebytes Premium services., have no infections, items in quarantine or other significant problems. Is this a known defect? Is there a solution? Thank you for any assistance and ideas. Read More
Login account at startup that is listed as first 5 letters of Microsoft email account, does n
After I changed my laptop name, at startup I now get an account titled as the first 5 letters of my user folder name and it is also the first 5 letters of my Microsoft outlook email account. There is no such account. It requests a password, but of course there is not one. I tried several of my usual passwords, but none worked.
There is an alternate account option, which I use to log in, but it always opens with this non-existent account. l don’t use password logins, so it’s quite annoying.
After I changed my laptop name, at startup I now get an account titled as the first 5 letters of my user folder name and it is also the first 5 letters of my Microsoft outlook email account. There is no such account. It requests a password, but of course there is not one. I tried several of my usual passwords, but none worked.There is an alternate account option, which I use to log in, but it always opens with this non-existent account. l don’t use password logins, so it’s quite annoying. Read More
Sudden Strange Icon Behaviour
I noticed about three days ago that when I log on, my icons are now all over half my screen and are widely spaced out side to side and top and bottom. If I log out and then log back in, the icons are where they are supposed to be, but all mixed up. If I reboot, they are all over the place again until I log out then back in after it boots up.
I have made no adjustments to my computer other than the recent patch Tuesday updates, and I have not installed any new software in the past month or so, with the exception of my new Nvidia GPU drivers. There is a tutorial on setting icon spacing, and I might try that. I’m just not sure it will hold between boot ups.
Anyone have this recent experience too? Or is it just me? And what could be the cause of this sudden weirdness?
I noticed about three days ago that when I log on, my icons are now all over half my screen and are widely spaced out side to side and top and bottom. If I log out and then log back in, the icons are where they are supposed to be, but all mixed up. If I reboot, they are all over the place again until I log out then back in after it boots up. I have made no adjustments to my computer other than the recent patch Tuesday updates, and I have not installed any new software in the past month or so, with the exception of my new Nvidia GPU drivers. There is a tutorial on setting icon spacing, and I might try that. I’m just not sure it will hold between boot ups. Anyone have this recent experience too? Or is it just me? And what could be the cause of this sudden weirdness? Read More
Why PC doesn’t boot from C drive?
Can anyone explain why my PC is giving this screen on boot? The Boot options are shown below.
After going to boot options and selecting Save and Restart, it boots normally once, then gives the error screen every boot after this.
Can anyone explain why my PC is giving this screen on boot? The Boot options are shown below.After going to boot options and selecting Save and Restart, it boots normally once, then gives the error screen every boot after this. Read More
My Mouse Pointer Speed always Changes!
I have my mouse speed set to 2 which is comfortable for me. But after a restart or just adjusting an app like my head set it jump’s to 10! And so I have to manually set it back it 2. This is driving me nut having to do this all the time. I fixed this a number of years back like 6 years but I can’t remember what I did to fix it.
I have my mouse speed set to 2 which is comfortable for me. But after a restart or just adjusting an app like my head set it jump’s to 10! And so I have to manually set it back it 2. This is driving me nut having to do this all the time. I fixed this a number of years back like 6 years but I can’t remember what I did to fix it. Read More
About gazebo-Cosimulation problems
i running there commands
cd /home/user/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/user/worlds/Ur10BasicWithPlugin.world –verbose
have some problems!
my Ur10BasicWithPlugin.world
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<light name=’sun’ type=’directional’>
<cast_shadows>1</cast_shadows>
<pose frame=”>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>
</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>
<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=’robot’>
<link name=’base_link’>
<pose frame=”>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.00610633</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00610633</iyy>
<iyz>0</iyz>
<izz>0.01125</izz>
</inertia>
</inertial>
<collision name=’base_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/base.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name=’base_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/base.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’world_joint’ type=’fixed’>
<child>base_link</child>
<parent>world</parent>
</joint>
<link name=’shoulder_link’>
<pose frame=”>0 0 0.1273 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>7.778</mass>
<inertia>
<ixx>0.0314743</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0314743</iyy>
<iyz>0</iyz>
<izz>0.0218756</izz>
</inertia>
</inertial>
<collision name=’shoulder_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/shoulder.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’shoulder_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/shoulder.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_pan_joint’ type=’revolute’>
<child>shoulder_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’upper_arm_link’>
<pose frame=”>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 -0.045 0.306 0 -0 0</pose>
<mass>12.93</mass>
<inertia>
<ixx>0.421754</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.421754</iyy>
<iyz>0</iyz>
<izz>0.0363656</izz>
</inertia>
</inertial>
<collision name=’upper_arm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/upperarm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’upper_arm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/upperarm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_lift_joint’ type=’revolute’>
<child>upper_arm_link</child>
<parent>shoulder_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’forearm_link’>
<pose frame=”>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.28615 0 -0 0</pose>
<mass>3.87</mass>
<inertia>
<ixx>0.11107</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.11107</iyy>
<iyz>0</iyz>
<izz>0.0108844</izz>
</inertia>
</inertial>
<collision name=’forearm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/forearm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’forearm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/forearm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’elbow_joint’ type=’revolute’>
<child>forearm_link</child>
<parent>upper_arm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>150</effort>
<velocity>3.15</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_1_link’>
<pose frame=”>1.1843 0.049041 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.1149 0 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_1_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist1.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_1_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_1_joint’ type=’revolute’>
<child>wrist_1_link</child>
<parent>forearm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.163941 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.1157 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_2_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist2.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_2_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_2_joint’ type=’revolute’>
<child>wrist_2_link</child>
<parent>wrist_1_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_3_link’>
<pose frame=”>1.1843 0.163941 0.0116 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.07695 0 1.5708 -0 0</pose>
<mass>0.202</mass>
<inertia>
<ixx>0.000117922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000117922</iyy>
<iyz>0</iyz>
<izz>0.000204525</izz>
</inertia>
</inertial>
<collision name=’wrist_3_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist3.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name=’wrist_3_link_fixed_joint_lump__ee_link_collision_1′>
<pose frame=”>-0 0.0822 0 0 -0 1.5708</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_3_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_3_joint’ type=’revolute’>
<child>wrist_3_link</child>
<parent>wrist_2_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name=’ros_control’ filename=’libgazebo_ros_control.so’>
<robotNamespace>/</robotNamespace>
</plugin>
<pose frame=”>0 0 0.1 0 -0 0</pose>
</model>
<state world_name=’default’>
<sim_time>276 385000000</sim_time>
<real_time>279 318272940</real_time>
<wall_time>1655637837 737929799</wall_time>
<iterations>276385</iterations>
<model name=’ground_plane’>
<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=’robot’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -0</pose>
<scale>1 1 1</scale>
<link name=’base_link’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -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=’forearm_link’>
<pose frame=”>0.611968 0.048722 0.221459 -3.12712 1.56111 -3.12763</pose>
<velocity>-0.000156 -0.000125 -0.017466 1.5e-05 0.029121 -0.000204</velocity>
<acceleration>-0 0 -0 -5e-06 0 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’shoulder_link’>
<pose frame=”>-2.9e-05 -7e-06 0.227299 -0.000104 0.00048 -0.000507</pose>
<velocity>-0 -0 -0 -0 -0 -0.000199</velocity>
<acceleration>-0 -0 -0 0 -0 0</acceleration>
<wrench>-0 -0 -0 0 -0 0</wrench>
</link>
<link name=’upper_arm_link’>
<pose frame=”>8.3e-05 0.220934 0.227261 -3.12547 1.56128 -3.12597</pose>
<velocity>4.4e-05 -0 -0 1.4e-05 0.02854 -0.000204</velocity>
<acceleration>-0 -0 -0 -6e-06 0 0</acceleration>
<wrench>-0 -0 -3e-06 0 -0 0</wrench>
</link>
<link name=’wrist_1_link’>
<pose frame=”>1.18424 0.048431 0.215911 -3.14145 -0.010088 3.14108</pose>
<velocity>-0.000318 -0.000241 -0.034131 1.5e-05 0.030466 -0.000204</velocity>
<acceleration>-0 0 -1e-06 0 1e-06 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.16333 0.215893 -3.14144 -0.010089 3.14109</pose>
<velocity>-0.000295 -0.000241 -0.034131 1.6e-05 0.030466 -0.000172</velocity>
<acceleration>1e-06 -0 -1e-06 0 -1e-06 0</acceleration>
<wrench>1e-06 -0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_3_link’>
<pose frame=”>1.18313 0.163313 0.100192 -3.14146 -0.010125 3.14109</pose>
<velocity>-0.00382 -0.000239 -0.034095 1.6e-05 0.030523 -0.000172</velocity>
<acceleration>1e-06 -0 2.3e-05 -6e-06 1e-06 -6e-06</acceleration>
<wrench>0 -0 5e-06 0 -0 0</wrench>
</link>
</model>
<light name=’sun’>
<pose frame=”>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen=’0′>
<camera name=’user_camera’>
<pose frame=”>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>
</world>
</sdf>
my .so file
i have some question
how to build my Ur10BasicWithPlugin.world
how to solve the problem of terminal displayi running there commands
cd /home/user/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/user/worlds/Ur10BasicWithPlugin.world –verbose
have some problems!
my Ur10BasicWithPlugin.world
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<light name=’sun’ type=’directional’>
<cast_shadows>1</cast_shadows>
<pose frame=”>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>
</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>
<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=’robot’>
<link name=’base_link’>
<pose frame=”>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.00610633</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00610633</iyy>
<iyz>0</iyz>
<izz>0.01125</izz>
</inertia>
</inertial>
<collision name=’base_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/base.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name=’base_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/base.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’world_joint’ type=’fixed’>
<child>base_link</child>
<parent>world</parent>
</joint>
<link name=’shoulder_link’>
<pose frame=”>0 0 0.1273 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>7.778</mass>
<inertia>
<ixx>0.0314743</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0314743</iyy>
<iyz>0</iyz>
<izz>0.0218756</izz>
</inertia>
</inertial>
<collision name=’shoulder_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/shoulder.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’shoulder_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/shoulder.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_pan_joint’ type=’revolute’>
<child>shoulder_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’upper_arm_link’>
<pose frame=”>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 -0.045 0.306 0 -0 0</pose>
<mass>12.93</mass>
<inertia>
<ixx>0.421754</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.421754</iyy>
<iyz>0</iyz>
<izz>0.0363656</izz>
</inertia>
</inertial>
<collision name=’upper_arm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/upperarm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’upper_arm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/upperarm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_lift_joint’ type=’revolute’>
<child>upper_arm_link</child>
<parent>shoulder_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’forearm_link’>
<pose frame=”>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.28615 0 -0 0</pose>
<mass>3.87</mass>
<inertia>
<ixx>0.11107</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.11107</iyy>
<iyz>0</iyz>
<izz>0.0108844</izz>
</inertia>
</inertial>
<collision name=’forearm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/forearm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’forearm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/forearm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’elbow_joint’ type=’revolute’>
<child>forearm_link</child>
<parent>upper_arm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>150</effort>
<velocity>3.15</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_1_link’>
<pose frame=”>1.1843 0.049041 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.1149 0 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_1_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist1.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_1_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_1_joint’ type=’revolute’>
<child>wrist_1_link</child>
<parent>forearm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.163941 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.1157 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_2_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist2.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_2_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_2_joint’ type=’revolute’>
<child>wrist_2_link</child>
<parent>wrist_1_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_3_link’>
<pose frame=”>1.1843 0.163941 0.0116 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.07695 0 1.5708 -0 0</pose>
<mass>0.202</mass>
<inertia>
<ixx>0.000117922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000117922</iyy>
<iyz>0</iyz>
<izz>0.000204525</izz>
</inertia>
</inertial>
<collision name=’wrist_3_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist3.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name=’wrist_3_link_fixed_joint_lump__ee_link_collision_1′>
<pose frame=”>-0 0.0822 0 0 -0 1.5708</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_3_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_3_joint’ type=’revolute’>
<child>wrist_3_link</child>
<parent>wrist_2_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name=’ros_control’ filename=’libgazebo_ros_control.so’>
<robotNamespace>/</robotNamespace>
</plugin>
<pose frame=”>0 0 0.1 0 -0 0</pose>
</model>
<state world_name=’default’>
<sim_time>276 385000000</sim_time>
<real_time>279 318272940</real_time>
<wall_time>1655637837 737929799</wall_time>
<iterations>276385</iterations>
<model name=’ground_plane’>
<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=’robot’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -0</pose>
<scale>1 1 1</scale>
<link name=’base_link’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -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=’forearm_link’>
<pose frame=”>0.611968 0.048722 0.221459 -3.12712 1.56111 -3.12763</pose>
<velocity>-0.000156 -0.000125 -0.017466 1.5e-05 0.029121 -0.000204</velocity>
<acceleration>-0 0 -0 -5e-06 0 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’shoulder_link’>
<pose frame=”>-2.9e-05 -7e-06 0.227299 -0.000104 0.00048 -0.000507</pose>
<velocity>-0 -0 -0 -0 -0 -0.000199</velocity>
<acceleration>-0 -0 -0 0 -0 0</acceleration>
<wrench>-0 -0 -0 0 -0 0</wrench>
</link>
<link name=’upper_arm_link’>
<pose frame=”>8.3e-05 0.220934 0.227261 -3.12547 1.56128 -3.12597</pose>
<velocity>4.4e-05 -0 -0 1.4e-05 0.02854 -0.000204</velocity>
<acceleration>-0 -0 -0 -6e-06 0 0</acceleration>
<wrench>-0 -0 -3e-06 0 -0 0</wrench>
</link>
<link name=’wrist_1_link’>
<pose frame=”>1.18424 0.048431 0.215911 -3.14145 -0.010088 3.14108</pose>
<velocity>-0.000318 -0.000241 -0.034131 1.5e-05 0.030466 -0.000204</velocity>
<acceleration>-0 0 -1e-06 0 1e-06 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.16333 0.215893 -3.14144 -0.010089 3.14109</pose>
<velocity>-0.000295 -0.000241 -0.034131 1.6e-05 0.030466 -0.000172</velocity>
<acceleration>1e-06 -0 -1e-06 0 -1e-06 0</acceleration>
<wrench>1e-06 -0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_3_link’>
<pose frame=”>1.18313 0.163313 0.100192 -3.14146 -0.010125 3.14109</pose>
<velocity>-0.00382 -0.000239 -0.034095 1.6e-05 0.030523 -0.000172</velocity>
<acceleration>1e-06 -0 2.3e-05 -6e-06 1e-06 -6e-06</acceleration>
<wrench>0 -0 5e-06 0 -0 0</wrench>
</link>
</model>
<light name=’sun’>
<pose frame=”>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen=’0′>
<camera name=’user_camera’>
<pose frame=”>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>
</world>
</sdf>
my .so file
i have some question
how to build my Ur10BasicWithPlugin.world
how to solve the problem of terminal display i running there commands
cd /home/user/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/user/worlds/Ur10BasicWithPlugin.world –verbose
have some problems!
my Ur10BasicWithPlugin.world
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<light name=’sun’ type=’directional’>
<cast_shadows>1</cast_shadows>
<pose frame=”>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>
</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>
<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=’robot’>
<link name=’base_link’>
<pose frame=”>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.00610633</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00610633</iyy>
<iyz>0</iyz>
<izz>0.01125</izz>
</inertia>
</inertial>
<collision name=’base_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/base.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name=’base_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/base.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’world_joint’ type=’fixed’>
<child>base_link</child>
<parent>world</parent>
</joint>
<link name=’shoulder_link’>
<pose frame=”>0 0 0.1273 0 -0 0</pose>
<inertial>
<pose frame=”>0 0 0 0 -0 0</pose>
<mass>7.778</mass>
<inertia>
<ixx>0.0314743</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0314743</iyy>
<iyz>0</iyz>
<izz>0.0218756</izz>
</inertia>
</inertial>
<collision name=’shoulder_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/shoulder.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’shoulder_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/shoulder.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_pan_joint’ type=’revolute’>
<child>shoulder_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’upper_arm_link’>
<pose frame=”>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 -0.045 0.306 0 -0 0</pose>
<mass>12.93</mass>
<inertia>
<ixx>0.421754</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.421754</iyy>
<iyz>0</iyz>
<izz>0.0363656</izz>
</inertia>
</inertial>
<collision name=’upper_arm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/upperarm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’upper_arm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/upperarm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’shoulder_lift_joint’ type=’revolute’>
<child>upper_arm_link</child>
<parent>shoulder_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’forearm_link’>
<pose frame=”>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.28615 0 -0 0</pose>
<mass>3.87</mass>
<inertia>
<ixx>0.11107</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.11107</iyy>
<iyz>0</iyz>
<izz>0.0108844</izz>
</inertia>
</inertial>
<collision name=’forearm_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/forearm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’forearm_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/forearm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’elbow_joint’ type=’revolute’>
<child>forearm_link</child>
<parent>upper_arm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>150</effort>
<velocity>3.15</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_1_link’>
<pose frame=”>1.1843 0.049041 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.1149 0 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_1_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist1.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_1_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_1_joint’ type=’revolute’>
<child>wrist_1_link</child>
<parent>forearm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.163941 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0 0.1157 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name=’wrist_2_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist2.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_2_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_2_joint’ type=’revolute’>
<child>wrist_2_link</child>
<parent>wrist_1_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name=’wrist_3_link’>
<pose frame=”>1.1843 0.163941 0.0116 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=”>0 0.07695 0 1.5708 -0 0</pose>
<mass>0.202</mass>
<inertia>
<ixx>0.000117922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000117922</iyy>
<iyz>0</iyz>
<izz>0.000204525</izz>
</inertia>
</inertial>
<collision name=’wrist_3_link_collision’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist3.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name=’wrist_3_link_fixed_joint_lump__ee_link_collision_1′>
<pose frame=”>-0 0.0822 0 0 -0 1.5708</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name=’wrist_3_link_visual’>
<pose frame=”>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name=’wrist_3_joint’ type=’revolute’>
<child>wrist_3_link</child>
<parent>wrist_2_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name=’ros_control’ filename=’libgazebo_ros_control.so’>
<robotNamespace>/</robotNamespace>
</plugin>
<pose frame=”>0 0 0.1 0 -0 0</pose>
</model>
<state world_name=’default’>
<sim_time>276 385000000</sim_time>
<real_time>279 318272940</real_time>
<wall_time>1655637837 737929799</wall_time>
<iterations>276385</iterations>
<model name=’ground_plane’>
<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=’robot’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -0</pose>
<scale>1 1 1</scale>
<link name=’base_link’>
<pose frame=”>0 0 0.1 4.9e-05 -0.000225 -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=’forearm_link’>
<pose frame=”>0.611968 0.048722 0.221459 -3.12712 1.56111 -3.12763</pose>
<velocity>-0.000156 -0.000125 -0.017466 1.5e-05 0.029121 -0.000204</velocity>
<acceleration>-0 0 -0 -5e-06 0 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’shoulder_link’>
<pose frame=”>-2.9e-05 -7e-06 0.227299 -0.000104 0.00048 -0.000507</pose>
<velocity>-0 -0 -0 -0 -0 -0.000199</velocity>
<acceleration>-0 -0 -0 0 -0 0</acceleration>
<wrench>-0 -0 -0 0 -0 0</wrench>
</link>
<link name=’upper_arm_link’>
<pose frame=”>8.3e-05 0.220934 0.227261 -3.12547 1.56128 -3.12597</pose>
<velocity>4.4e-05 -0 -0 1.4e-05 0.02854 -0.000204</velocity>
<acceleration>-0 -0 -0 -6e-06 0 0</acceleration>
<wrench>-0 -0 -3e-06 0 -0 0</wrench>
</link>
<link name=’wrist_1_link’>
<pose frame=”>1.18424 0.048431 0.215911 -3.14145 -0.010088 3.14108</pose>
<velocity>-0.000318 -0.000241 -0.034131 1.5e-05 0.030466 -0.000204</velocity>
<acceleration>-0 0 -1e-06 0 1e-06 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_2_link’>
<pose frame=”>1.1843 0.16333 0.215893 -3.14144 -0.010089 3.14109</pose>
<velocity>-0.000295 -0.000241 -0.034131 1.6e-05 0.030466 -0.000172</velocity>
<acceleration>1e-06 -0 -1e-06 0 -1e-06 0</acceleration>
<wrench>1e-06 -0 -1e-06 0 -0 0</wrench>
</link>
<link name=’wrist_3_link’>
<pose frame=”>1.18313 0.163313 0.100192 -3.14146 -0.010125 3.14109</pose>
<velocity>-0.00382 -0.000239 -0.034095 1.6e-05 0.030523 -0.000172</velocity>
<acceleration>1e-06 -0 2.3e-05 -6e-06 1e-06 -6e-06</acceleration>
<wrench>0 -0 5e-06 0 -0 0</wrench>
</link>
</model>
<light name=’sun’>
<pose frame=”>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen=’0′>
<camera name=’user_camera’>
<pose frame=”>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>
</world>
</sdf>
my .so file
i have some question
how to build my Ur10BasicWithPlugin.world
how to solve the problem of terminal display gazebo-cosimalation MATLAB Answers — New Questions
Windows required fonts
Using windows 10 and wanting to remove all non-system required fonts, I know 10 uses Segeo UI as it’s default, but which one, I have L,SL,SB,B, Blk, symbols, Variables, historic, script, print, mdl2 assets and regular. Also does Windows require any other fonts to properly run (Terminal, system, roman, Sm Fnts, Calibri,TNR, etc.). Thanks
Using windows 10 and wanting to remove all non-system required fonts, I know 10 uses Segeo UI as it’s default, but which one, I have L,SL,SB,B, Blk, symbols, Variables, historic, script, print, mdl2 assets and regular. Also does Windows require any other fonts to properly run (Terminal, system, roman, Sm Fnts, Calibri,TNR, etc.). Thanks Read More
Filter the Planner Tasks instead of getting all of them inside our power apps planner connector
I have the following formula to get all the planner tasks:-
Collect(colRelatedPlannerTasks,
Planner.ListTasksV3(planner.id,group.Value).value);
now how i can dynamically filter those tasks based on the AssignedTo user and the Completion status? currently i am getting all the tasks and then filter them, but is there a more efficient way so we only get the needed filtered planner tasks?
Thanks
I have the following formula to get all the planner tasks:-Collect(colRelatedPlannerTasks,
Planner.ListTasksV3(planner.id,group.Value).value); now how i can dynamically filter those tasks based on the AssignedTo user and the Completion status? currently i am getting all the tasks and then filter them, but is there a more efficient way so we only get the needed filtered planner tasks? Thanks Read More
Azure SQL Managed Instance Zone Redundancy to begin billing
Azure SQL Managed Instance with Zone Redundancy to begin billing in Italy-North, Israel-Central, and West-Europe
Microsoft Azure continues to enhance its services, ensuring that customers have access to the latest innovations and features. The latest update is particularly exciting for businesses operating in Italy, Israel, and West Europe: Azure SQL Managed Instance with Zone Redundancy is available in these regions and starts billing for all configurations.
What is Azure SQL Managed Instance?
Azure SQL Managed Instance is a fully managed database service that offers the best of SQL Server with the operational and financial benefits of an intelligent, fully managed service. It provides a near-100% compatibility with the latest SQL Server (Enterprise Edition) database engine, which makes it easy to migrate your SQL Server databases to Azure without changing your apps.
Understanding Zone Redundancy
Zone Redundancy is a feature designed to improve the availability and resilience of your database instances. In the context of Azure SQL Managed Instance, Zone Redundancy means that your instances are replicated across multiple availability zones within a region. Each availability zone is a physically separate location with independent power, cooling, and networking. This separation ensures that even in the event of a data center outage, your database remains available and operational.
Benefits of Zone Redundancy
1. Increased Resilience
By replicating your data across multiple zones, you safeguard your applications from data center failures. This redundancy minimizes the risk of downtime and ensures that your critical business applications remain online, providing a more reliable service to your users.
2. Improved Business Continuity
With Zone Redundancy, you can achieve higher availability SLAs. For many businesses, this means meeting stringent uptime requirements and maintaining customer trust by ensuring their services are always available.
3. Cost Efficiency
While Zone Redundancy does come with additional costs, the benefits of reduced downtime and the potential financial impact of data loss often outweigh these expenses. In essence, investing in Zone Redundancy can save your business money in the long run by avoiding costly downtime and data recovery efforts.
How to Enable Zone Redundancy
Enabling Zone Redundancy for your Azure SQL Managed Instance is straightforward:
During Instance Creation:
When creating a new managed instance, you can specify Zone Redundancy in the configuration options.
For Existing Instances:
If you have an existing instance, you can modify its settings to enable Zone Redundancy in configure blade
Microsoft Tech Community – Latest Blogs –Read More
Are annotations supported in uifigure objects?
Are annotations supported in uifigures created in AppDesigner?Are annotations supported in uifigures created in AppDesigner? Are annotations supported in uifigures created in AppDesigner? appdesigner, annotation MATLAB Answers — New Questions
would help me please to create special code for this histogram
Hello everybody
would help me please to create special code for this histogram
Obtain the images “einstein.tif”. This is a 490 × 600 Gray scale image with 8-bit pixels. Then use MATLAB to:
(a) Plot a histogram for the image.
(b) Performing Histogram Equalization to the image.
(c) Plot a histogram for the output image.
(d) Display both the original image and the image after applying histogram equalization.
(e) (Hint) Although MATLAB has a histogram functions, write your own code to calculate the histogram and histogram equalization.Hello everybody
would help me please to create special code for this histogram
Obtain the images “einstein.tif”. This is a 490 × 600 Gray scale image with 8-bit pixels. Then use MATLAB to:
(a) Plot a histogram for the image.
(b) Performing Histogram Equalization to the image.
(c) Plot a histogram for the output image.
(d) Display both the original image and the image after applying histogram equalization.
(e) (Hint) Although MATLAB has a histogram functions, write your own code to calculate the histogram and histogram equalization. Hello everybody
would help me please to create special code for this histogram
Obtain the images “einstein.tif”. This is a 490 × 600 Gray scale image with 8-bit pixels. Then use MATLAB to:
(a) Plot a histogram for the image.
(b) Performing Histogram Equalization to the image.
(c) Plot a histogram for the output image.
(d) Display both the original image and the image after applying histogram equalization.
(e) (Hint) Although MATLAB has a histogram functions, write your own code to calculate the histogram and histogram equalization. special, code, histogram MATLAB Answers — New Questions
How do I plot multiple DTED plots without individual axes or legends?
I’m trying to plot 4 sets of DTED (.dt2) files to create a figure that covers 2 degrees of both latitude and longitude (each .dt2 is 1 degree x 1 degree), and I want the 4 sets to be directly next to each other to create a seamless map.
I’m using the following code to load the files:
[grid_3, R3] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom left
[grid_4, R4] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom right
[grid_2, R2] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top left
[grid_1, R1] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top right
I’ve tried to combine the arrays that hold the DTED points with the following section:
grid_total = zeros([grid.totallength, grid.totalwidth]);
grid_total(1:3601, 1:3601) = grid_2; % top left
grid_total(1:3601, 3602:7202) = grid_1; % top right
grid_total(3602:7202, 1:3601) = grid_3; % bottom left
grid_total(3602:7202, 3602:7202) = grid_4; % bottom right
figure;
worldmap([30,32],[110,112]);
geoshow(grid_total, what_goes_here???, ‘DisplayType’, ‘surface’)
demcmap(grid_total);
But I’ve been unable to combine R1 through R4 to represent the 2×2 degree array. All of R’s members are read-only, so I’m not sure what to do. Using just R1, R2, etc. throws an error since it isn’t compatible with the size of grid_total.
I’ve tried using subplot to plot each DTED plot onto the same figure with this:
% first grid
figure(1);
subplot(2,2,4);
latlim4 = R4.LatitudeLimits;
lonlim4 = R4.LongitudeLimits;
worldmap(latlim4, lonlim4);
geoshow(grid_4,R4, "DisplayType", "surface");
demcmap(grid_4);
hold on
% second grid
subplot(2,2,3);
latlim3 = R3.LatitudeLimits;
lonlim3 = R3.LongitudeLimits;
worldmap(latlim3, lonlim3);
geoshow(grid_3,R3, "DisplayType", "surface");
demcmap(grid_3);
hold on
% third grid
subplot(2,2,1);
latlim2 = R2.LatitudeLimits;
lonlim2 = R2.LongitudeLimits;
worldmap(latlim2, lonlim2);
geoshow(grid_2,R2, "DisplayType", "surface");
demcmap(grid_2);
hold on
% fourth grid
subplot(2,2,2);
latlim1 = R1.LatitudeLimits;
lonlim1 = R1.LongitudeLimits;
worldmap(latlim1, lonlim1);
geoshow(grid_1,R1, "DisplayType", "surface");
demcmap(grid_1);
But they show up separated from each other with their own axes.
Does anyone have advice on how to plot all 4 of these as 1, larger, combined plot?I’m trying to plot 4 sets of DTED (.dt2) files to create a figure that covers 2 degrees of both latitude and longitude (each .dt2 is 1 degree x 1 degree), and I want the 4 sets to be directly next to each other to create a seamless map.
I’m using the following code to load the files:
[grid_3, R3] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom left
[grid_4, R4] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom right
[grid_2, R2] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top left
[grid_1, R1] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top right
I’ve tried to combine the arrays that hold the DTED points with the following section:
grid_total = zeros([grid.totallength, grid.totalwidth]);
grid_total(1:3601, 1:3601) = grid_2; % top left
grid_total(1:3601, 3602:7202) = grid_1; % top right
grid_total(3602:7202, 1:3601) = grid_3; % bottom left
grid_total(3602:7202, 3602:7202) = grid_4; % bottom right
figure;
worldmap([30,32],[110,112]);
geoshow(grid_total, what_goes_here???, ‘DisplayType’, ‘surface’)
demcmap(grid_total);
But I’ve been unable to combine R1 through R4 to represent the 2×2 degree array. All of R’s members are read-only, so I’m not sure what to do. Using just R1, R2, etc. throws an error since it isn’t compatible with the size of grid_total.
I’ve tried using subplot to plot each DTED plot onto the same figure with this:
% first grid
figure(1);
subplot(2,2,4);
latlim4 = R4.LatitudeLimits;
lonlim4 = R4.LongitudeLimits;
worldmap(latlim4, lonlim4);
geoshow(grid_4,R4, "DisplayType", "surface");
demcmap(grid_4);
hold on
% second grid
subplot(2,2,3);
latlim3 = R3.LatitudeLimits;
lonlim3 = R3.LongitudeLimits;
worldmap(latlim3, lonlim3);
geoshow(grid_3,R3, "DisplayType", "surface");
demcmap(grid_3);
hold on
% third grid
subplot(2,2,1);
latlim2 = R2.LatitudeLimits;
lonlim2 = R2.LongitudeLimits;
worldmap(latlim2, lonlim2);
geoshow(grid_2,R2, "DisplayType", "surface");
demcmap(grid_2);
hold on
% fourth grid
subplot(2,2,2);
latlim1 = R1.LatitudeLimits;
lonlim1 = R1.LongitudeLimits;
worldmap(latlim1, lonlim1);
geoshow(grid_1,R1, "DisplayType", "surface");
demcmap(grid_1);
But they show up separated from each other with their own axes.
Does anyone have advice on how to plot all 4 of these as 1, larger, combined plot? I’m trying to plot 4 sets of DTED (.dt2) files to create a figure that covers 2 degrees of both latitude and longitude (each .dt2 is 1 degree x 1 degree), and I want the 4 sets to be directly next to each other to create a seamless map.
I’m using the following code to load the files:
[grid_3, R3] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom left
[grid_4, R4] = readgeoraster("FILENAME.dt2", "OutputType","double"); % bottom right
[grid_2, R2] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top left
[grid_1, R1] = readgeoraster("FILENAME.dt2", "OutputType","double"); % top right
I’ve tried to combine the arrays that hold the DTED points with the following section:
grid_total = zeros([grid.totallength, grid.totalwidth]);
grid_total(1:3601, 1:3601) = grid_2; % top left
grid_total(1:3601, 3602:7202) = grid_1; % top right
grid_total(3602:7202, 1:3601) = grid_3; % bottom left
grid_total(3602:7202, 3602:7202) = grid_4; % bottom right
figure;
worldmap([30,32],[110,112]);
geoshow(grid_total, what_goes_here???, ‘DisplayType’, ‘surface’)
demcmap(grid_total);
But I’ve been unable to combine R1 through R4 to represent the 2×2 degree array. All of R’s members are read-only, so I’m not sure what to do. Using just R1, R2, etc. throws an error since it isn’t compatible with the size of grid_total.
I’ve tried using subplot to plot each DTED plot onto the same figure with this:
% first grid
figure(1);
subplot(2,2,4);
latlim4 = R4.LatitudeLimits;
lonlim4 = R4.LongitudeLimits;
worldmap(latlim4, lonlim4);
geoshow(grid_4,R4, "DisplayType", "surface");
demcmap(grid_4);
hold on
% second grid
subplot(2,2,3);
latlim3 = R3.LatitudeLimits;
lonlim3 = R3.LongitudeLimits;
worldmap(latlim3, lonlim3);
geoshow(grid_3,R3, "DisplayType", "surface");
demcmap(grid_3);
hold on
% third grid
subplot(2,2,1);
latlim2 = R2.LatitudeLimits;
lonlim2 = R2.LongitudeLimits;
worldmap(latlim2, lonlim2);
geoshow(grid_2,R2, "DisplayType", "surface");
demcmap(grid_2);
hold on
% fourth grid
subplot(2,2,2);
latlim1 = R1.LatitudeLimits;
lonlim1 = R1.LongitudeLimits;
worldmap(latlim1, lonlim1);
geoshow(grid_1,R1, "DisplayType", "surface");
demcmap(grid_1);
But they show up separated from each other with their own axes.
Does anyone have advice on how to plot all 4 of these as 1, larger, combined plot? dted, plotting MATLAB Answers — New Questions
Windows Server 2012R2 patching
Hello Team,
We have in our company some old servers – Windows Server 2012R2. We don’t have ESU.
Now we need to rebuild some of them and install only security patches.
I don’t want to install all single security patches and my patching strategy is:
1. Install cumulative patch KB2919355 and some other patches according to the KB below:
https://www.microsoft.com/en-us/download/details.aspx?id=42334
2. Install the latest SSU(As we don’t have ESU the latest SSU is from september 2023):
KB5030329 2023-09 Servicing Stack Update for Windows Server 2012 R2 for x64-based Systems
3. Install below patches(We don’t have ESU so the latest patches are from September and October):
KB5031419 2023-10 Security Monthly Quality Rollup for Windows Server 2012 R2 for x64-based Systems
KB5031407 2023-10 Security Only Quality Update for Windows Server 2012 R2 for x64-based Systems
KB5031355 2023-10 Cumulative Security Update for Internet Explorer 11 for Windows Server 2012 R2 for x64-based systems
KB5029915 2023-09 Security and Quality Rollup for .NET Framework 3.5 for Windows Server 2012 R2 for x64
KB5031008 2023-10 Security and Quality Rollup for .NET Framework 4.6.2, 4.7, 4.7.1, 4.7.2 for Windows Server 2012 R2 for x64
And now I have 2 questions:
1. Is this patching strategy correct?
2. If I install KB5031419 2023-10 Security Monthly Quality Rollup for Windows Server 2012 R2 for x64-based Systems do I still need to install KB5031407 2023-10 Security Only Quality Update for Windows Server 2012 R2 for x64-based Systems or this patch i already included in Rollup?
Hello Team,We have in our company some old servers – Windows Server 2012R2. We don’t have ESU.Now we need to rebuild some of them and install only security patches.I don’t want to install all single security patches and my patching strategy is:1. Install cumulative patch KB2919355 and some other patches according to the KB below:https://www.microsoft.com/en-us/download/details.aspx?id=423342. Install the latest SSU(As we don’t have ESU the latest SSU is from september 2023):KB5030329 2023-09 Servicing Stack Update for Windows Server 2012 R2 for x64-based Systems3. Install below patches(We don’t have ESU so the latest patches are from September and October):KB5031419 2023-10 Security Monthly Quality Rollup for Windows Server 2012 R2 for x64-based SystemsKB5031407 2023-10 Security Only Quality Update for Windows Server 2012 R2 for x64-based SystemsKB5031355 2023-10 Cumulative Security Update for Internet Explorer 11 for Windows Server 2012 R2 for x64-based systemsKB5029915 2023-09 Security and Quality Rollup for .NET Framework 3.5 for Windows Server 2012 R2 for x64KB5031008 2023-10 Security and Quality Rollup for .NET Framework 4.6.2, 4.7, 4.7.1, 4.7.2 for Windows Server 2012 R2 for x64And now I have 2 questions:1. Is this patching strategy correct?2. If I install KB5031419 2023-10 Security Monthly Quality Rollup for Windows Server 2012 R2 for x64-based Systems do I still need to install KB5031407 2023-10 Security Only Quality Update for Windows Server 2012 R2 for x64-based Systems or this patch i already included in Rollup? Read More
