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

​

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

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The following error I get when running the model:
An error occurred while running the simulation and the simulation was terminated
Caused by: Size mismatch for MATLAB expression ‘array’. Expected = 1×100 Actual = 1×1

The model includes two functions: (1) adding and (2) deleting elements from the array in a base workspace. Fixed-step solver is set for the model, so a new elements is added (or an existing element is removed) each tick.
Then, both functions use a class with the following methods: declare the array, add/delete an element, refresh the array. In the functions I use a persistent variable for the class.
The functions and class work properly via Command Window. But that error occurs if the functions call from the Simulink model. It happens when the array refresh method is used.

Instead of using the array refresh method, I tried to use a global variable. It also works to me via the Command Window, however other errors happen to Simulink:
Global declaration not resolved to a Data Store Memory block registered via the Ports and Data Manager.The following error I get when running the model:
An error occurred while running the simulation and the simulation was terminated
Caused by: Size mismatch for MATLAB expression ‘array’. Expected = 1×100 Actual = 1×1

The model includes two functions: (1) adding and (2) deleting elements from the array in a base workspace. Fixed-step solver is set for the model, so a new elements is added (or an existing element is removed) each tick.
Then, both functions use a class with the following methods: declare the array, add/delete an element, refresh the array. In the functions I use a persistent variable for the class.
The functions and class work properly via Command Window. But that error occurs if the functions call from the Simulink model. It happens when the array refresh method is used.

Instead of using the array refresh method, I tried to use a global variable. It also works to me via the Command Window, however other errors happen to Simulink:
Global declaration not resolved to a Data Store Memory block registered via the Ports and Data Manager. The following error I get when running the model:
An error occurred while running the simulation and the simulation was terminated
Caused by: Size mismatch for MATLAB expression ‘array’. Expected = 1×100 Actual = 1×1

The model includes two functions: (1) adding and (2) deleting elements from the array in a base workspace. Fixed-step solver is set for the model, so a new elements is added (or an existing element is removed) each tick.
Then, both functions use a class with the following methods: declare the array, add/delete an element, refresh the array. In the functions I use a persistent variable for the class.
The functions and class work properly via Command Window. But that error occurs if the functions call from the Simulink model. It happens when the array refresh method is used.

Instead of using the array refresh method, I tried to use a global variable. It also works to me via the Command Window, however other errors happen to Simulink:
Global declaration not resolved to a Data Store Memory block registered via the Ports and Data Manager. array, simulink, variable, arrays, variables, class MATLAB Answers — New Questions

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when I was using MATLAB 2024A, it often got stuck, and then became normal after a few seconds . this was very different from my previous experience, and I feel my progam runs very slowly. So I ran the bench function and found that the score was terrible, and I don’t understand why this is happending ……when I was using MATLAB 2024A, it often got stuck, and then became normal after a few seconds . this was very different from my previous experience, and I feel my progam runs very slowly. So I ran the bench function and found that the score was terrible, and I don’t understand why this is happending …… when I was using MATLAB 2024A, it often got stuck, and then became normal after a few seconds . this was very different from my previous experience, and I feel my progam runs very slowly. So I ran the bench function and found that the score was terrible, and I don’t understand why this is happending …… bench MATLAB Answers — New Questions

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I am trying to download EEG LAB plugins and I keep getting an error code that I do not have permission to do this. Has anyone encountered this? How do I fix it?I am trying to download EEG LAB plugins and I keep getting an error code that I do not have permission to do this. Has anyone encountered this? How do I fix it? I am trying to download EEG LAB plugins and I keep getting an error code that I do not have permission to do this. Has anyone encountered this? How do I fix it? eeglab plugins MATLAB Answers — New Questions

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I am doing some substitutions of the index of triangle mesh. After removing or selecting some points on the mesh, I need to "retrench" the connectivitylist. I always using changem to achieve this. Like below,
function TR1 = simpleTR(TR)
node_idx = unique(TR.ConnectivityList);
node1 = TR.Points(node_idx,:);
node_idx1 = 1:size(node1,1);
face1 = changem(TR.ConnectivityList,node_idx1′,node_idx);
TR1 = triangulation(face1,node1);
end
I found the speed of this is slow when the input TR is big. In profiling, the code in changem below takes the most of time.
B(A == oldval(k)) = newval(k);
Is there any way to accelerate this?
———————-edit for @Cam Salzberger comment———————————————
I would like to clarify my problem in two aspects. One is the bigger picture, which is what I would like to do with the codes. The other is the problem of changem.
1. The goal of my codes is to make a new triangle mesh. The new mesh has fewer vertices(TR.Points) than the original one, after I deleted some vertex of it. The index of the faces (TR.ConnectivityList) should be "retrench", that is, the range of the faces (TR.ConnectivityList) will be smaller. See the example below, which is from matlab page,triangulation
% the original mesh
P = [ 2.5 8.0
6.5 8.0
2.5 5.0
6.5 5.0
1.0 6.5
8.0 6.5];
T = [5 3 1;
3 2 1;
3 4 2;
4 6 2];
TR = triangulation(T,P)
triplot(TR)
Now I delete the 5th vertex. The new mesh should be,
T_new = [ 3 2 1;
3 4 2;
4 6 2];
TR1a = triangulation(T_new,P);% some vertices is not referenced
TR1b = simpleTR(TR1a); % the content is above

%>> TR1b.Points
ans =
2.5 8
6.5 8
2.5 5
6.5 5
8 6.5
%>> TR1b.ConnectivityList
ans =
3 2 1
3 4 2
4 5 2
In the process, I need to replace "6" with "5" with changem. In practise, I have to changem many number for a large mesh.

2. For the problem of changem. In this function, I found it did a loop for "find" and "change value" combination.
B(A == oldval(k)) = newval(k);
I believe it has some chance to improve. Because it seems in every loop, it traverses through all of the elements in the matrix(TR.ConnectivityList). I think this way may be imperfect. It may use some hashtable-like thing to do it., which could be done in one loop.
All of this is my guess. Thank you for any suggestions.I am doing some substitutions of the index of triangle mesh. After removing or selecting some points on the mesh, I need to "retrench" the connectivitylist. I always using changem to achieve this. Like below,
function TR1 = simpleTR(TR)
node_idx = unique(TR.ConnectivityList);
node1 = TR.Points(node_idx,:);
node_idx1 = 1:size(node1,1);
face1 = changem(TR.ConnectivityList,node_idx1′,node_idx);
TR1 = triangulation(face1,node1);
end
I found the speed of this is slow when the input TR is big. In profiling, the code in changem below takes the most of time.
B(A == oldval(k)) = newval(k);
Is there any way to accelerate this?
———————-edit for @Cam Salzberger comment———————————————
I would like to clarify my problem in two aspects. One is the bigger picture, which is what I would like to do with the codes. The other is the problem of changem.
1. The goal of my codes is to make a new triangle mesh. The new mesh has fewer vertices(TR.Points) than the original one, after I deleted some vertex of it. The index of the faces (TR.ConnectivityList) should be "retrench", that is, the range of the faces (TR.ConnectivityList) will be smaller. See the example below, which is from matlab page,triangulation
% the original mesh
P = [ 2.5 8.0
6.5 8.0
2.5 5.0
6.5 5.0
1.0 6.5
8.0 6.5];
T = [5 3 1;
3 2 1;
3 4 2;
4 6 2];
TR = triangulation(T,P)
triplot(TR)
Now I delete the 5th vertex. The new mesh should be,
T_new = [ 3 2 1;
3 4 2;
4 6 2];
TR1a = triangulation(T_new,P);% some vertices is not referenced
TR1b = simpleTR(TR1a); % the content is above

%>> TR1b.Points
ans =
2.5 8
6.5 8
2.5 5
6.5 5
8 6.5
%>> TR1b.ConnectivityList
ans =
3 2 1
3 4 2
4 5 2
In the process, I need to replace "6" with "5" with changem. In practise, I have to changem many number for a large mesh.

2. For the problem of changem. In this function, I found it did a loop for "find" and "change value" combination.
B(A == oldval(k)) = newval(k);
I believe it has some chance to improve. Because it seems in every loop, it traverses through all of the elements in the matrix(TR.ConnectivityList). I think this way may be imperfect. It may use some hashtable-like thing to do it., which could be done in one loop.
All of this is my guess. Thank you for any suggestions. I am doing some substitutions of the index of triangle mesh. After removing or selecting some points on the mesh, I need to "retrench" the connectivitylist. I always using changem to achieve this. Like below,
function TR1 = simpleTR(TR)
node_idx = unique(TR.ConnectivityList);
node1 = TR.Points(node_idx,:);
node_idx1 = 1:size(node1,1);
face1 = changem(TR.ConnectivityList,node_idx1′,node_idx);
TR1 = triangulation(face1,node1);
end
I found the speed of this is slow when the input TR is big. In profiling, the code in changem below takes the most of time.
B(A == oldval(k)) = newval(k);
Is there any way to accelerate this?
———————-edit for @Cam Salzberger comment———————————————
I would like to clarify my problem in two aspects. One is the bigger picture, which is what I would like to do with the codes. The other is the problem of changem.
1. The goal of my codes is to make a new triangle mesh. The new mesh has fewer vertices(TR.Points) than the original one, after I deleted some vertex of it. The index of the faces (TR.ConnectivityList) should be "retrench", that is, the range of the faces (TR.ConnectivityList) will be smaller. See the example below, which is from matlab page,triangulation
% the original mesh
P = [ 2.5 8.0
6.5 8.0
2.5 5.0
6.5 5.0
1.0 6.5
8.0 6.5];
T = [5 3 1;
3 2 1;
3 4 2;
4 6 2];
TR = triangulation(T,P)
triplot(TR)
Now I delete the 5th vertex. The new mesh should be,
T_new = [ 3 2 1;
3 4 2;
4 6 2];
TR1a = triangulation(T_new,P);% some vertices is not referenced
TR1b = simpleTR(TR1a); % the content is above

%>> TR1b.Points
ans =
2.5 8
6.5 8
2.5 5
6.5 5
8 6.5
%>> TR1b.ConnectivityList
ans =
3 2 1
3 4 2
4 5 2
In the process, I need to replace "6" with "5" with changem. In practise, I have to changem many number for a large mesh.

2. For the problem of changem. In this function, I found it did a loop for "find" and "change value" combination.
B(A == oldval(k)) = newval(k);
I believe it has some chance to improve. Because it seems in every loop, it traverses through all of the elements in the matrix(TR.ConnectivityList). I think this way may be imperfect. It may use some hashtable-like thing to do it., which could be done in one loop.
All of this is my guess. Thank you for any suggestions. speed, changem, index MATLAB Answers — New Questions

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Hey,

I am trying to install Arduino add on to MATLAB 2019b. But I am getting following error ‘The serial interface is not supported on board Due/UNO’. I tried the same with Arduino DUW and Arduino UNO as well. How can I correct this error.

Attached is the screenshot of the error window.Hey,

I am trying to install Arduino add on to MATLAB 2019b. But I am getting following error ‘The serial interface is not supported on board Due/UNO’. I tried the same with Arduino DUW and Arduino UNO as well. How can I correct this error.

Attached is the screenshot of the error window. Hey,

I am trying to install Arduino add on to MATLAB 2019b. But I am getting following error ‘The serial interface is not supported on board Due/UNO’. I tried the same with Arduino DUW and Arduino UNO as well. How can I correct this error.

Attached is the screenshot of the error window. matlab 2019b, arduino uno MATLAB Answers — New Questions

​

L=10;
n=1.45;
c=2.9979e8;
dt=6e-12;
T=10*2*L*n/c;
fmax =2.5e9
%fs=80*fmax;

TA=-T/2:dt:T/2;
fs=1/dt;
%t = (-T/2/dt:1:T/2/dt)*dt;
Nt=round(T/dt);

vsine = 1;
phi = vsine*sin(2*pi*fmax*TA);
EL1t=1.274e7*exp(1i*phi);
%plot(TA,(EL1t));
%FA = ((0:Nt-1)-floor(Nt/2))/Nt*fs;
FA = (-Nt/2:Nt/2-1)/Nt*fs;
FP=fft(phi);
%fs=1/dt/Nt;
Z=plot(FA,fftshift(abs(fft(EL1t/Nt))));

I want to find the RMS linewidth of the above signal and the formula for it is given here , but I am confused how to implement it in the code.L=10;
n=1.45;
c=2.9979e8;
dt=6e-12;
T=10*2*L*n/c;
fmax =2.5e9
%fs=80*fmax;

TA=-T/2:dt:T/2;
fs=1/dt;
%t = (-T/2/dt:1:T/2/dt)*dt;
Nt=round(T/dt);

vsine = 1;
phi = vsine*sin(2*pi*fmax*TA);
EL1t=1.274e7*exp(1i*phi);
%plot(TA,(EL1t));
%FA = ((0:Nt-1)-floor(Nt/2))/Nt*fs;
FA = (-Nt/2:Nt/2-1)/Nt*fs;
FP=fft(phi);
%fs=1/dt/Nt;
Z=plot(FA,fftshift(abs(fft(EL1t/Nt))));

I want to find the RMS linewidth of the above signal and the formula for it is given here , but I am confused how to implement it in the code. L=10;
n=1.45;
c=2.9979e8;
dt=6e-12;
T=10*2*L*n/c;
fmax =2.5e9
%fs=80*fmax;

TA=-T/2:dt:T/2;
fs=1/dt;
%t = (-T/2/dt:1:T/2/dt)*dt;
Nt=round(T/dt);

vsine = 1;
phi = vsine*sin(2*pi*fmax*TA);
EL1t=1.274e7*exp(1i*phi);
%plot(TA,(EL1t));
%FA = ((0:Nt-1)-floor(Nt/2))/Nt*fs;
FA = (-Nt/2:Nt/2-1)/Nt*fs;
FP=fft(phi);
%fs=1/dt/Nt;
Z=plot(FA,fftshift(abs(fft(EL1t/Nt))));

I want to find the RMS linewidth of the above signal and the formula for it is given here , but I am confused how to implement it in the code. rms, fft, linewidth, plot, numerical MATLAB Answers — New Questions

​

Hello Friends,

I have a .mat file loaded in workspace. I want to convert it into .csv file. It has real entries. I used to convert it before using the following commands without any problem:

M = dlmread(‘FileName.mat’, ‘t’, 1, 0);
csvwrite(‘FileName.csv’, M)

But now something is wrong with MATLAB. My dataset is the same. Nothing has changed, but now it gives the following error:

Error using dlmread (line 139)
Mismatch between file and format string.
Trouble reading number from file (row 1u, field 1u) ==>
}Ûa�&Ír!ÃþxbSo�Èñæo8k:¬i’³*Y#�~!I�jË9B¯Ý�WG~
¬zN=å0ɁÀo8Ó’Rå@õR[iãY>,xÊ8UrVÀ9ó";~~�ÀOWAe$�Æ:xfnFVAÿñ�ϼÓЪÍða�þn

I wonder if MATLAB changed something with dlmwrite function! Please advise.Hello Friends,

I have a .mat file loaded in workspace. I want to convert it into .csv file. It has real entries. I used to convert it before using the following commands without any problem:

M = dlmread(‘FileName.mat’, ‘t’, 1, 0);
csvwrite(‘FileName.csv’, M)

But now something is wrong with MATLAB. My dataset is the same. Nothing has changed, but now it gives the following error:

Error using dlmread (line 139)
Mismatch between file and format string.
Trouble reading number from file (row 1u, field 1u) ==>
}Ûa�&Ír!ÃþxbSo�Èñæo8k:¬i’³*Y#�~!I�jË9B¯Ý�WG~
¬zN=å0ɁÀo8Ó’Rå@õR[iãY>,xÊ8UrVÀ9ó";~~�ÀOWAe$�Æ:xfnFVAÿñ�ϼÓЪÍða�þn

I wonder if MATLAB changed something with dlmwrite function! Please advise. Hello Friends,

I have a .mat file loaded in workspace. I want to convert it into .csv file. It has real entries. I used to convert it before using the following commands without any problem:

M = dlmread(‘FileName.mat’, ‘t’, 1, 0);
csvwrite(‘FileName.csv’, M)

But now something is wrong with MATLAB. My dataset is the same. Nothing has changed, but now it gives the following error:

Error using dlmread (line 139)
Mismatch between file and format string.
Trouble reading number from file (row 1u, field 1u) ==>
}Ûa�&Ír!ÃþxbSo�Èñæo8k:¬i’³*Y#�~!I�jË9B¯Ý�WG~
¬zN=å0ɁÀo8Ó’Rå@õR[iãY>,xÊ8UrVÀ9ó";~~�ÀOWAe$�Æ:xfnFVAÿñ�ϼÓЪÍða�þn

I wonder if MATLAB changed something with dlmwrite function! Please advise. dlmwrite, csvwrite, csvread, mat, csv, .mat, .csv, .dat, convert from .mat to .csv, error MATLAB Answers — New Questions

​

Hello,
I am analysing EEG data using a code that was provided to me. This bit of code was working well a year ago, and I am using it now to add new datasets.I don’t understand what has changed that make it throw an error now.
The script below is used to average, plot and display the 93 EEG electrodes accross all trials for all participants. I get the following error:
Index in position 2 exceeds array bounds (must not exceed 175).
Error in butterfly_graph (line 8)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);

DATA is stored in a file called DataForCluster_allparticipants.mat. I don’t understand what exactly is the index in position 2 that exceeds array bounds. I apologise if the answer is very obvious.
my scripts can be found here: https://we.tl/t-0ozTcZFgex
DataForCluster_allparticipants.mat that is the file where the DATA variable is stored
The script forLucie_loadDataForCluster.mat is the script generating the DATA file
The script Butterfly_graph is the script in which I have a problem
load(‘DataForCluster_allparticipants.mat’)
cd(‘/Users/dan/Documents/LucieEEG/Analysis/Sorted’) %change this
%d(1,:) is standard
%d(2,:) is deviant
% d(3,:) is MMN

for i = 1:length(DATA)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);
data_DEV(:,:,i) = DATA{2,i}.avg(:, 1:350);
data_MMN(:,:,i) = DATA{3,i}.avg(:, 1:350);
endHello,
I am analysing EEG data using a code that was provided to me. This bit of code was working well a year ago, and I am using it now to add new datasets.I don’t understand what has changed that make it throw an error now.
The script below is used to average, plot and display the 93 EEG electrodes accross all trials for all participants. I get the following error:
Index in position 2 exceeds array bounds (must not exceed 175).
Error in butterfly_graph (line 8)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);

DATA is stored in a file called DataForCluster_allparticipants.mat. I don’t understand what exactly is the index in position 2 that exceeds array bounds. I apologise if the answer is very obvious.
my scripts can be found here: https://we.tl/t-0ozTcZFgex
DataForCluster_allparticipants.mat that is the file where the DATA variable is stored
The script forLucie_loadDataForCluster.mat is the script generating the DATA file
The script Butterfly_graph is the script in which I have a problem
load(‘DataForCluster_allparticipants.mat’)
cd(‘/Users/dan/Documents/LucieEEG/Analysis/Sorted’) %change this
%d(1,:) is standard
%d(2,:) is deviant
% d(3,:) is MMN

for i = 1:length(DATA)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);
data_DEV(:,:,i) = DATA{2,i}.avg(:, 1:350);
data_MMN(:,:,i) = DATA{3,i}.avg(:, 1:350);
end Hello,
I am analysing EEG data using a code that was provided to me. This bit of code was working well a year ago, and I am using it now to add new datasets.I don’t understand what has changed that make it throw an error now.
The script below is used to average, plot and display the 93 EEG electrodes accross all trials for all participants. I get the following error:
Index in position 2 exceeds array bounds (must not exceed 175).
Error in butterfly_graph (line 8)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);

DATA is stored in a file called DataForCluster_allparticipants.mat. I don’t understand what exactly is the index in position 2 that exceeds array bounds. I apologise if the answer is very obvious.
my scripts can be found here: https://we.tl/t-0ozTcZFgex
DataForCluster_allparticipants.mat that is the file where the DATA variable is stored
The script forLucie_loadDataForCluster.mat is the script generating the DATA file
The script Butterfly_graph is the script in which I have a problem
load(‘DataForCluster_allparticipants.mat’)
cd(‘/Users/dan/Documents/LucieEEG/Analysis/Sorted’) %change this
%d(1,:) is standard
%d(2,:) is deviant
% d(3,:) is MMN

for i = 1:length(DATA)
data_STD(:,:,i) = DATA{1,i}.avg(:, 1:350);
data_DEV(:,:,i) = DATA{2,i}.avg(:, 1:350);
data_MMN(:,:,i) = DATA{3,i}.avg(:, 1:350);
end psychology, eeg, indexing MATLAB Answers — New Questions

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