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Marcin
2026-05-28 11:37:19 +02:00
commit e8c73b6101
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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>
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<include>
<name>C_0_3</name>
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</include>
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<name>C_0_8</name>
<uri>file://./models/corn.sdf</uri>
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</include>
<include>
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</include>
<include>
<name>C_1_0</name>
<uri>file://./models/corn.sdf</uri>
<pose>-0.05 1.58 0 0 0 6.12</pose>
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<include>
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<uri>file://./models/corn.sdf</uri>
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<include>
<name>C_1_9</name>
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<include>
<name>C_2_0</name>
<uri>file://./models/corn.sdf</uri>
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<include>
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<include>
<name>C_2_7</name>
<uri>file://./models/corn.sdf</uri>
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<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>
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</include>
<include>
<name>C_3_0</name>
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</include>
<include>
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<uri>file://./models/corn.sdf</uri>
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<include>
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</include>
<include>
<name>C_3_3</name>
<uri>file://./models/corn.sdf</uri>
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</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>
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</include>
<include>
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</include>
<include>
<name>C_3_7</name>
<uri>file://./models/corn.sdf</uri>
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<include>
<name>C_3_9</name>
<uri>file://./models/corn.sdf</uri>
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</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>
models/Mud Box/materials/scripts/mud.material
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material vrc/mud
{
technique
{
pass
{
ambient 0.5 0.5 0.5 1.0
diffuse 0.5 0.5 0.5 1.0
specular 0.2 0.2 0.2 1.0 12.5
texture_unit
{
texture mud_soft_leaves.png
filtering anistropic
max_anisotropy 16
}
}
}
}
models/Mud Box/model-1_4.sdf
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<?xml version="1.0"?>
<sdf version="1.4">
<model name="mud_box">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>8 10 0.2</size>
</box>
</geometry>
</collision>
<visual name="visual_1">
<pose>-2 2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_2">
<pose>2 2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_3">
<pose>2 -2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_4">
<pose>-2 -2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
models/Mud Box/model.config
+18
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<?xml version="1.0"?>
<model>
<name>Mud Box</name>
<version>1.0</version>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Thomas Koletschka</name>
<email>thomas.koletschka@gmail.com</email>
</author>
<description>
A mud textured plane.
</description>
</model>
models/Mud Box/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="mud_box">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>8 10 0.2</size>
</box>
</geometry>
</collision>
<visual name="visual_1">
<pose>-2 2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_2">
<pose>2 2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_3">
<pose>2 -2.5 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>4 5 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
<visual name="visual_4">
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<geometry>
<box>
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</box>
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<material>
<script>
<uri>model://mud_box/materials/scripts</uri>
<uri>model://mud_box/materials/textures</uri>
<name>vrc/mud</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
models/Mud Box/thumbnails/1.png
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models/corn.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="Corn">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>meshes/scene.gltf</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
</link>
</model>
</sdf>
models/meshes/license.txt
+11
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Model Information:
* title: Corn! Corn! Corn!
* source: https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3
* author: Tiia Tuulia (https://sketchfab.com/tiiatuulia)
Model License:
* license type: CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
* requirements: Author must be credited. Commercial use is allowed.
If you use this 3D model in your project be sure to copy paste this credit wherever you share it:
This work is based on "Corn! Corn! Corn!" (https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3) by Tiia Tuulia (https://sketchfab.com/tiiatuulia) licensed under CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
models/meshes/mud_soft_leaves.png
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models/meshes/scene.bin
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models/meshes/scene.gltf
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models/meshes/textures/corn_plant__corn_texture_png_baseColor.png
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models/model.config
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<?xml version="1.0"?>
<model>
<name>Corn</name>
<version>1.0</version>
<sdf version="1.6">corn.sdf</sdf>
<description>
Corn plant
</description>
</model>
models/models.zip
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robot_with_wheels.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='industrial_robot_with_wheels'>
<pose>0 0 3.3 0 0 0</pose>
<!-- Kadłub -->
<link name='base_link'>
<inertial>
<mass>150.0</mass>
<inertia>
<ixx>128.5</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>200.5</iyy><iyz>0</iyz>
<izz>328.0</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry><box><size>4.0 3.2 0.2</size></box></geometry>
</collision>
<visual name='visual'>
<geometry><box><size>4.0 3.2 0.2</size></box></geometry>
<material><ambient>0.1 0.3 0.6 1</ambient><diffuse>0.1 0.3 0.6 1</diffuse></material>
</visual>
</link>
<!-- Funkcja pomocnicza do definicji osi i koła -->
<!-- FL (Front Left) -->
<link name='axle_fl'>
<pose>1.8 1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_fl'>
<pose>1.8 1.4 -3.1 1.5707 0 0</pose>
<collision name='collision'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
</collision>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient><diffuse>0 0 0 1</diffuse></material>
</visual>
</link>
<!-- FR (Front Right) -->
<link name='axle_fr'>
<pose>1.8 -1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_fr'>
<pose>1.8 -1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- BL (Back Left) -->
<link name='axle_bl'>
<pose>-1.8 1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_bl'>
<pose>-1.8 1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- BR (Back Right) -->
<link name='axle_br'>
<pose>-1.8 -1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_br'>
<pose>-1.8 -1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- JOINTS - SKRĘT (Revolute) -->
<joint name='steer_fl' type='revolute'>
<parent>base_link</parent><child>axle_fl</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_fr' type='revolute'>
<parent>base_link</parent><child>axle_fr</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_bl' type='revolute'>
<parent>base_link</parent><child>axle_bl</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_br' type='revolute'>
<parent>base_link</parent><child>axle_br</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<!-- JOINTS - NAPĘD/OBRÓT KOŁA (Continuous) -->
<joint name='wheel_fl_joint' type='revolute'>
<parent>axle_fl</parent><child>wheel_fl</child>
<axis><xyz>0 0 1</xyz></axis> <!-- Oś obrotu koła w SDF po rotacji linku -->
</joint>
<joint name='wheel_fr_joint' type='revolute'>
<parent>axle_fr</parent><child>wheel_fr</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name='wheel_bl_joint' type='revolute'>
<parent>axle_bl</parent><child>wheel_bl</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name='wheel_br_joint' type='revolute'>
<parent>axle_br</parent><child>wheel_br</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
</model>
</sdf>