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[Issue #1112] Added new gymkhana world for drone contest #1127

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aitormf merged 12 commits into from
Apr 20, 2018
Merged

[Issue #1112] Added new gymkhana world for drone contest #1127

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3db4f2f
added gymkhana world and plugins
sed123a Mar 20, 2018
5b81960
Fixed world file
sed123a Mar 24, 2018
0f780ac
Modified wall models
abhayraw1 Mar 29, 2018
19379a7
Modiified gymkhana world
abhayraw1 Mar 29, 2018
d602f0a
Walls move with random velocity
abhayraw1 Mar 29, 2018
be77da1
Changed decription
abhayraw1 Mar 29, 2018
a0fd5bb
Merge remote-tracking branch 'indio/gymkhana' into gymkhana
sed123a Apr 2, 2018
99782ad
Merge pull request #1118 from abhayraw1/gymkhana
aitormf Apr 3, 2018
1476bc0
Merge remote-tracking branch 'origin/gymkhana' into gymkhana
sed123a Apr 11, 2018
2b525fc
added collisions to hangar
sed123a Apr 11, 2018
50ab994
deleted extra wall
sed123a Apr 11, 2018
f9dab85
Completing gymkhana world with lights and stuff
fqez Apr 18, 2018
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1,301 changes: 1,301 additions & 0 deletions src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
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16 changes: 16 additions & 0 deletions src/drivers/gazeboserver/models/hangar/model.config
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<?xml version="1.0"?>

<model>
<name>Hangar</name>
<version>1.0</version>
<sdf>model.sdf</sdf>

<author>
<name>Alvaro Villamil</name>
<email>a.villamil@hotmail.com</email>
</author>

<description>
The gymkhana hanger for drone exercises.
</description>
</model>
91 changes: 91 additions & 0 deletions src/drivers/gazeboserver/models/hangar/model.sdf
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<?xml version='1.0'?>
<sdf version="1.4">
<model name="hangar">
<static>true</static>
<link name="hangar">
<pose>0 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<plane>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hangar/meshes/hangar.dae</uri>
</mesh>
</geometry>
</visual>
</link>

<link name="roof">
<collision name="collision2">
<pose>0 2 6 0 1.57 0</pose>
<geometry>
<box>
<size>0.1 20 14</size>
</box>
</geometry>
</collision>
</link>


<link name="hangar_wall5">
<collision name="collision2">
<pose>-4.9 -7.0 3 0 0 1.85</pose>
<geometry>
<box>
<size>0.1 4 6</size>
</box>
</geometry>
</collision>
</link>

<link name="hangar_wall4">
<collision name="collision2">
<pose>4.9 -7.0 3 0 0 1.35</pose>
<geometry>
<box>
<size>0.1 4 6</size>
</box>
</geometry>
</collision>
</link>

<link name="hangar_wall3">
<collision name="collision2">
<pose>0 12.3 3 0 0 1.57</pose>
<geometry>
<box>
<size>0.1 13.5 6</size>
</box>
</geometry>
</collision>
</link>


<link name="hangar_wall2">
<collision name="collision2">
<pose>-6.8 2.5 3 0 0 0 </pose>
<geometry>
<box>
<size>0.1 20 6</size>
</box>
</geometry>
</collision>
</link>

<link name="hangar_wall1">
<collision name="collision2">
<pose>6.8 2.5 3 0 0 0 </pose>
<geometry>
<box>
<size>0.1 20 6</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
Binary file removed src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png
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3,545 changes: 3,396 additions & 149 deletions src/drivers/gazeboserver/models/tree/meshes/tree.dae
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1 change: 1 addition & 0 deletions src/drivers/gazeboserver/models/tree/model.sdf
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="tree">
<static>true</static>
<pose>0 0 1 0 0 0</pose>
<link name="link">
<inertial>
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93 changes: 93 additions & 0 deletions src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2018-03-20T09:39:40</created>
<modified>2018-03-20T09:39:40</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="Pared1-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">1 0 0.00205001 1</color>
</diffuse>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Pared1-material" name="Pared1">
<instance_effect url="#Pared1-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube_003-mesh" name="Cube.003">
<mesh>
<source id="Cube_003-mesh-positions">
<float_array id="Cube_003-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube_003-mesh-normals">
<float_array id="Cube_003-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
<technique_common>
<accessor source="#Cube_003-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube_003-mesh-vertices">
<input semantic="POSITION" source="#Cube_003-mesh-positions"/>
</vertices>
<triangles material="Pared1-material" count="12">
<input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
<p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube_002" name="Cube_002" type="NODE">
<matrix sid="transform">1.027213 0 0 0 0 0.1027213 0 4 0 0 2.080106 2.2 0 0 0 1</matrix>
<instance_geometry url="#Cube_003-mesh" name="Cube_002">
<bind_material>
<technique_common>
<instance_material symbol="Pared1-material" target="#Pared1-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
16 changes: 16 additions & 0 deletions src/drivers/gazeboserver/models/wall1/model.config
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@@ -0,0 +1,16 @@
<?xml version="1.0"?>

<model>
<name>wall1</name>
<version>1.0</version>
<sdf>model.sdf</sdf>

<author>
<name>Alvaro Villamil</name>
<email>a.villamil@hotmail.com</email>
</author>

<description>
The F1 Monaco track without elevations.
</description>
</model>
104 changes: 104 additions & 0 deletions src/drivers/gazeboserver/models/wall1/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='wall1'>
<link name='pared1'>
<pose frame=''>0 0 2.133 0 0 0</pose>
<inertial>
<mass>10000</mass>
<inertia>
<ixx>99999999999</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>99999999999</iyy>
<iyz>0</iyz>
<izz>99999999999</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>2.5 0.150783 4.266</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>0 0 1 1</ambient>
<diffuse>0.3 0.3 0.8 1</diffuse>
<specular>0.01 0.1 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.150783 4.266</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>100</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<plugin name="wall1plugin" filename="libwall1plugin.so"/>
</model>
</sdf>
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