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Gazebo in tudelft conf, with orange avoid example (#2149)
* Gazebo Cyberzoo and OrangeAvoid in tudelft conf, Simulate when no RC, call gzclient as tool * [orange_avoider] color setting * docs+remove modules section
This commit is contained in:
kevindehecker
committed by
Christophe De Wagter
Christophe De Wagter
parent
62bb3cafaa
commit
6fafcaaae9
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<model name="cyberzoo">
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<static>true</static>
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<pose>0 0 0 0 0 0</pose>
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<link name="floor">
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<pose>0 0 0.01 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box>
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<size>10 10 0.02</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0.2 0.8 0.2 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>10 10 0.02</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name="north_wall">
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<pose>0 5 5 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box>
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<size>10 0.2 10</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>10 0.2 10</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name="east_wall">
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<pose>5 0 5 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.2 10 10</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.2 10 10</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name="south_wall">
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<pose>0 -5 6.25 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box>
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<size>10 0.2 7.5</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>10 0.2 7.5</size>
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</box>
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</geometry>
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</collision>
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</link>
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</model>
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</sdf>
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@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<model>
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<name>Cyberzoo</name>
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<version>1.0</version>
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<sdf version='1.4'>cyberzoo.sdf</sdf>
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<author>
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<name>Tom van Dijk</name>
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<email>tomvand@users.noreply.github.com</email>
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</author>
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<description>
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Cyberzoo coarse model
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</description>
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</model>
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@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<model>
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<name>Orange Pole</name>
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<version>1.0</version>
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<sdf version='1.4'>orange_pole.sdf</sdf>
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<author>
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<name>Tom van Dijk</name>
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<email>tomvand@users.noreply.github.com</email>
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</author>
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<description>
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Orange pole as used in the TU Delft Cyberzoo.
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</description>
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</model>
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@@ -0,0 +1,43 @@
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<?xml version='1.0'?>
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<sdf version="1.4">
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<model name="orange_pole">
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<pose>0 0 1.0 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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<inertia> <!-- interias are tricky to compute -->
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<!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
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<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
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<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
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<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
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<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
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<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
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<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.3</radius>
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<length>2.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.2</radius>
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<length>2.0</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>1 0.55 0 1</ambient>
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<diffuse>1 0.55 0 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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