Init
This commit is contained in:
Marcin
+282
@@ -0,0 +1,282 @@
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||||
<sdf version='1.10'>
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<world name='corn_field_wide'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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||||
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
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<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
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<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
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<gravity>0 0 -9.8</gravity>
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||||
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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<sky>
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<clouds>
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<speed>0.6</speed> </clouds>
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</sky>
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</scene>
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<model name='ground_plane'>
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<static>true</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.2 0.15 0.1 1</ambient>
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<diffuse>0.25 0.18 0.12 1</diffuse>
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<specular>0 0 0 1</specular> </material>
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</visual>
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</link>
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</model>
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<include>
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<name>C_0_0</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.02 -0.02 0 0 0 0.44</pose>
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</include>
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<include>
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<name>C_0_1</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.65 0.03 0 0 0 1.57</pose>
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</include>
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<include>
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<name>C_0_2</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.31 -0.01 0 0 0 3.12</pose>
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</include>
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<include>
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<name>C_0_3</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.98 0.04 0 0 0 4.89</pose>
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</include>
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<include>
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<name>C_0_4</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>2.62 -0.03 0 0 0 0.12</pose>
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</include>
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<include>
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<name>C_0_5</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.25 0.01 0 0 0 2.33</pose>
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</include>
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<include>
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<name>C_0_6</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.91 -0.02 0 0 0 5.67</pose>
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</include>
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<include>
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<name>C_0_7</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>4.55 0.04 0 0 0 1.11</pose>
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</include>
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<include>
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<name>C_0_8</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.21 -0.01 0 0 0 3.88</pose>
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</include>
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<include>
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<name>C_0_9</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.85 0.02 0 0 0 2.44</pose>
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</include>
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<include>
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<name>C_1_0</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>-0.05 1.58 0 0 0 6.12</pose>
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</include>
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<include>
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<name>C_1_1</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.62 1.64 0 0 0 0.88</pose>
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</include>
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<include>
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<name>C_1_2</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.28 1.59 0 0 0 2.55</pose>
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</include>
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<include>
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<name>C_1_3</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.92 1.62 0 0 0 4.12</pose>
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</include>
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<include>
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<name>C_1_4</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>2.58 1.57 0 0 0 0.33</pose>
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</include>
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<include>
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<name>C_1_5</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.21 1.65 0 0 0 1.99</pose>
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</include>
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<include>
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<name>C_1_6</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.88 1.60 0 0 0 3.44</pose>
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</include>
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<include>
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<name>C_1_7</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>4.52 1.63 0 0 0 5.21</pose>
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</include>
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<include>
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<name>C_1_8</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.18 1.58 0 0 0 0.77</pose>
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</include>
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<include>
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<name>C_1_9</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.81 1.61 0 0 0 2.15</pose>
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</include>
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<include>
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<name>C_2_0</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.08 3.18 0 0 0 1.33</pose>
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</include>
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<include>
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<name>C_2_1</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.71 3.24 0 0 0 4.21</pose>
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</include>
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<include>
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<name>C_2_2</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.35 3.19 0 0 0 0.55</pose>
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</include>
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<include>
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<name>C_2_3</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.99 3.22 0 0 0 2.88</pose>
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</include>
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<include>
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<name>C_2_4</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>2.65 3.17 0 0 0 5.11</pose>
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</include>
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<include>
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<name>C_2_5</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.28 3.25 0 0 0 1.44</pose>
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</include>
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<include>
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<name>C_2_6</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.94 3.20 0 0 0 3.77</pose>
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</include>
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<include>
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<name>C_2_7</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>4.58 3.23 0 0 0 6.01</pose>
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</include>
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<include>
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<name>C_2_8</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.24 3.18 0 0 0 0.92</pose>
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</include>
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<include>
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<name>C_2_9</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>5.88 3.21 0 0 0 3.33</pose>
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</include>
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<include>
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<name>C_3_0</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>-0.03 4.78 0 0 0 2.45</pose>
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</include>
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<include>
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<name>C_3_1</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>0.62 4.84 0 0 0 5.12</pose>
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</include>
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<include>
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<name>C_3_2</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.28 4.79 0 0 0 0.15</pose>
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</include>
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<include>
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<name>C_3_3</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>1.92 4.82 0 0 0 1.88</pose>
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</include>
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<include>
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<name>C_3_4</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>2.58 4.77 0 0 0 4.56</pose>
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</include>
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<include>
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<name>C_3_5</name>
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<uri>file://./models/corn.sdf</uri>
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<pose>3.21 4.85 0 0 0 0.67</pose>
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</include>
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<include>
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<name>C_3_6</name>
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||||
<uri>file://./models/corn.sdf</uri>
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<pose>3.88 4.80 0 0 0 3.21</pose>
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</include>
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<include>
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||||
<name>C_3_7</name>
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||||
<uri>file://./models/corn.sdf</uri>
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||||
<pose>4.52 4.83 0 0 0 5.44</pose>
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||||
</include>
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||||
<include>
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||||
<name>C_3_8</name>
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||||
<uri>file://./models/corn.sdf</uri>
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<pose>5.18 4.78 0 0 0 1.22</pose>
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</include>
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||||
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||||
<include>
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||||
<name>C_3_9</name>
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||||
<uri>file://./models/corn.sdf</uri>
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||||
<pose>5.81 4.81 0 0 0 4.01</pose>
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||||
</include>
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||||
<include>
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||||
<name>C_3_9</name>
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||||
<uri>file://./models/corn.sdf</uri>
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||||
<pose>5.81 4.81 0 0 0 4.01</pose>
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||||
</include>
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<include>
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<uri>file://./robot_with_wheels.sdf</uri>
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<pose>7.81 0 3.3 0 0 4.01</pose>
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</include>
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<light name='sun' type='directional'>
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<pose>0 0 10 0 0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>-0.5 0.1 -0.9</direction>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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</light>
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</world>
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</sdf>
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@@ -0,0 +1,19 @@
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material vrc/mud
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{
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technique
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{
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pass
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{
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ambient 0.5 0.5 0.5 1.0
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diffuse 0.5 0.5 0.5 1.0
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specular 0.2 0.2 0.2 1.0 12.5
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texture_unit
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{
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texture mud_soft_leaves.png
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filtering anistropic
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max_anisotropy 16
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}
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}
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}
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}
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@@ -0,0 +1,80 @@
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<?xml version="1.0"?>
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<sdf version="1.4">
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<model name="mud_box">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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||||
<box>
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||||
<size>8 10 0.2</size>
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||||
</box>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual_1">
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||||
<pose>-2 2.5 0 0 0 0</pose>
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||||
<cast_shadows>false</cast_shadows>
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||||
<geometry>
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||||
<box>
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||||
<size>4 5 0.2</size>
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||||
</box>
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||||
</geometry>
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<material>
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||||
<script>
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||||
<uri>model://mud_box/materials/scripts</uri>
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<uri>model://mud_box/materials/textures</uri>
|
||||
<name>vrc/mud</name>
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||||
</script>
|
||||
</material>
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||||
</visual>
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||||
<visual name="visual_2">
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||||
<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>
|
||||
@@ -0,0 +1,18 @@
|
||||
<?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>
|
||||
@@ -0,0 +1,79 @@
|
||||
<?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">
|
||||
<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>
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Model Information:
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||||
* title: Corn! Corn! Corn!
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||||
* source: https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3
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* author: Tiia Tuulia (https://sketchfab.com/tiiatuulia)
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Model License:
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||||
* license type: CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
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||||
* requirements: Author must be credited. Commercial use is allowed.
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||||
|
||||
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/)
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|
||||
<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>
|
||||
Reference in New Issue
Block a user