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Marcin
2026-05-28 11:37:19 +02:00
commit e8c73b6101
19 changed files with 1048 additions and 0 deletions
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corn_field2.sdf
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<sdf version='1.10'>
<world name='corn_field_wide'>
<physics name='1ms' type='ignored'>
<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>
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
<gravity>0 0 -9.8</gravity>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
<sky>
<clouds>
<speed>0.6</speed> </clouds>
</sky>
</scene>
<model name='ground_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.2 0.15 0.1 1</ambient>
<diffuse>0.25 0.18 0.12 1</diffuse>
<specular>0 0 0 1</specular> </material>
</visual>
</link>
</model>
<include>
<name>C_0_0</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.02 -0.02 0 0 0 0.44</pose>
</include>
<include>
<name>C_0_1</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.65 0.03 0 0 0 1.57</pose>
</include>
<include>
<name>C_0_2</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.31 -0.01 0 0 0 3.12</pose>
</include>
<include>
<name>C_0_3</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.98 0.04 0 0 0 4.89</pose>
</include>
<include>
<name>C_0_4</name>
<uri>file://./models/corn.sdf</uri>
<pose>2.62 -0.03 0 0 0 0.12</pose>
</include>
<include>
<name>C_0_5</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.25 0.01 0 0 0 2.33</pose>
</include>
<include>
<name>C_0_6</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.91 -0.02 0 0 0 5.67</pose>
</include>
<include>
<name>C_0_7</name>
<uri>file://./models/corn.sdf</uri>
<pose>4.55 0.04 0 0 0 1.11</pose>
</include>
<include>
<name>C_0_8</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.21 -0.01 0 0 0 3.88</pose>
</include>
<include>
<name>C_0_9</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.85 0.02 0 0 0 2.44</pose>
</include>
<include>
<name>C_1_0</name>
<uri>file://./models/corn.sdf</uri>
<pose>-0.05 1.58 0 0 0 6.12</pose>
</include>
<include>
<name>C_1_1</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.62 1.64 0 0 0 0.88</pose>
</include>
<include>
<name>C_1_2</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.28 1.59 0 0 0 2.55</pose>
</include>
<include>
<name>C_1_3</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.92 1.62 0 0 0 4.12</pose>
</include>
<include>
<name>C_1_4</name>
<uri>file://./models/corn.sdf</uri>
<pose>2.58 1.57 0 0 0 0.33</pose>
</include>
<include>
<name>C_1_5</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.21 1.65 0 0 0 1.99</pose>
</include>
<include>
<name>C_1_6</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.88 1.60 0 0 0 3.44</pose>
</include>
<include>
<name>C_1_7</name>
<uri>file://./models/corn.sdf</uri>
<pose>4.52 1.63 0 0 0 5.21</pose>
</include>
<include>
<name>C_1_8</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.18 1.58 0 0 0 0.77</pose>
</include>
<include>
<name>C_1_9</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.81 1.61 0 0 0 2.15</pose>
</include>
<include>
<name>C_2_0</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.08 3.18 0 0 0 1.33</pose>
</include>
<include>
<name>C_2_1</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.71 3.24 0 0 0 4.21</pose>
</include>
<include>
<name>C_2_2</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.35 3.19 0 0 0 0.55</pose>
</include>
<include>
<name>C_2_3</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.99 3.22 0 0 0 2.88</pose>
</include>
<include>
<name>C_2_4</name>
<uri>file://./models/corn.sdf</uri>
<pose>2.65 3.17 0 0 0 5.11</pose>
</include>
<include>
<name>C_2_5</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.28 3.25 0 0 0 1.44</pose>
</include>
<include>
<name>C_2_6</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.94 3.20 0 0 0 3.77</pose>
</include>
<include>
<name>C_2_7</name>
<uri>file://./models/corn.sdf</uri>
<pose>4.58 3.23 0 0 0 6.01</pose>
</include>
<include>
<name>C_2_8</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.24 3.18 0 0 0 0.92</pose>
</include>
<include>
<name>C_2_9</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.88 3.21 0 0 0 3.33</pose>
</include>
<include>
<name>C_3_0</name>
<uri>file://./models/corn.sdf</uri>
<pose>-0.03 4.78 0 0 0 2.45</pose>
</include>
<include>
<name>C_3_1</name>
<uri>file://./models/corn.sdf</uri>
<pose>0.62 4.84 0 0 0 5.12</pose>
</include>
<include>
<name>C_3_2</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.28 4.79 0 0 0 0.15</pose>
</include>
<include>
<name>C_3_3</name>
<uri>file://./models/corn.sdf</uri>
<pose>1.92 4.82 0 0 0 1.88</pose>
</include>
<include>
<name>C_3_4</name>
<uri>file://./models/corn.sdf</uri>
<pose>2.58 4.77 0 0 0 4.56</pose>
</include>
<include>
<name>C_3_5</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.21 4.85 0 0 0 0.67</pose>
</include>
<include>
<name>C_3_6</name>
<uri>file://./models/corn.sdf</uri>
<pose>3.88 4.80 0 0 0 3.21</pose>
</include>
<include>
<name>C_3_7</name>
<uri>file://./models/corn.sdf</uri>
<pose>4.52 4.83 0 0 0 5.44</pose>
</include>
<include>
<name>C_3_8</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.18 4.78 0 0 0 1.22</pose>
</include>
<include>
<name>C_3_9</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.81 4.81 0 0 0 4.01</pose>
</include>
<include>
<name>C_3_9</name>
<uri>file://./models/corn.sdf</uri>
<pose>5.81 4.81 0 0 0 4.01</pose>
</include>
<include>
<uri>file://./robot_with_wheels.sdf</uri>
<pose>7.81 0 3.3 0 0 4.01</pose>
</include>
<light name='sun' type='directional'>
<pose>0 0 10 0 0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>-0.5 0.1 -0.9</direction>
<diffuse>0.8 0.8 0.8 1</diffuse>
</light>
</world>
</sdf>