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Scan, dock and deliver practice worlds (#591)
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* Scan dock deliver practice worlds.

Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: M1chaelM <[email protected]>
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@caguero @M1chaelM
caguero and M1chaelM authored Apr 21, 2023
1 parent 94c4707 commit c9ce7ea
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Showing 24 changed files with 2,520 additions and 20 deletions.
2 changes: 1 addition & 1 deletion vrx_gz/models/dock_2022/model.sdf
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filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>/vrx/dock_2022_placard1_big_hole/contain</topic>
<pose>5.95 2.59 2.83 0 0 1.5707963267948966</pose>
<pose>5.95 3.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
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0 ...otx_light_buoy/mesh/LightTower_Albedo.png → ...light_buoy_rgb/mesh/LightTower_Albedo.png
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0 ..._light_buoy/mesh/LightTower_Metalness.png → ...ht_buoy_rgb/mesh/LightTower_Metalness.png
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0 ...otx_light_buoy/mesh/LightTower_Normal.png → ...light_buoy_rgb/mesh/LightTower_Normal.png
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0 ...tx_light_buoy/mesh/LightTower_Opacity.png → ...ight_buoy_rgb/mesh/LightTower_Opacity.png
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0 ..._light_buoy/mesh/LightTower_Roughness.png → ...ht_buoy_rgb/mesh/LightTower_Roughness.png
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0 ...otx_light_buoy/mesh/robotx_light_buoy.dae → ...light_buoy_rgb/mesh/robotx_light_buoy.dae
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0 vrx_gz/models/robotx_light_buoy/model.config → ...models/robotx_light_buoy_rgb/model.config
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18 changes: 9 additions & 9 deletions vrx_gz/models/robotx_light_buoy/model.sdf → ...gz/models/robotx_light_buoy_rgb/model.sdf
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="robotx_light_buoy">
<model name="robotx_light_buoy_rgb">
<pose>0 0 -0.0762 0 0 0</pose>
<link name="base_link">
<inertial>
Expand All @@ -19,18 +19,18 @@
<visual name="base">
<geometry>
<mesh>
<uri>file://robotx_light_buoy/mesh/robotx_light_buoy.dae</uri>
<uri>file://robotx_light_buoy_rgb/mesh/robotx_light_buoy.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>file://robotx_light_buoy/mesh/LightTower_Albedo.png</albedo_map>
<normal_map>file://robotx_light_buoy/mesh/LightTower_Normal.png</normal_map>
<roughness_map>file://robotx_light_buoy/mesh/LightTower_Roughness.png</roughness_map>
<metalness_map>file://robotx_light_buoy/mesh/LightTower_Metalness.png</metalness_map>
<albedo_map>file://robotx_light_buoy_rgb/mesh/LightTower_Albedo.png</albedo_map>
<normal_map>file://robotx_light_buoy_rgb/mesh/LightTower_Normal.png</normal_map>
<roughness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Roughness.png</roughness_map>
<metalness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Metalness.png</metalness_map>
</metal>
</pbr>
</material>
Expand All @@ -53,9 +53,9 @@
<color_2>green</color_2>
<color_3>blue</color_3>
<visuals>
<visual>robotx_light_buoy::base_link::panel_1</visual>
<visual>robotx_light_buoy::base_link::panel_2</visual>
<visual>robotx_light_buoy::base_link::panel_3</visual>
<visual>robotx_light_buoy_rgb::base_link::panel_1</visual>
<visual>robotx_light_buoy_rgb::base_link::panel_2</visual>
<visual>robotx_light_buoy_rgb::base_link::panel_3</visual>
</visuals>
</plugin>
</visual>
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15 changes: 15 additions & 0 deletions vrx_gz/models/robotx_light_buoy_rgy/model.config
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<?xml version="1.0"?>
<model>
<name>robotx_light_buoy</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Carlos Agüero</name>
<email>[email protected]</email>
</author>

<description>
Light buoy with LED panel used in the "Scan the Code" challenge in RobotX.
</description>
</model>
110 changes: 110 additions & 0 deletions vrx_gz/models/robotx_light_buoy_rgy/model.sdf
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@@ -0,0 +1,110 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="robotx_light_buoy_rgy">
<pose>0 0 -0.0762 0 0 0</pose>
<link name="base_link">
<inertial>
<pose>0 0 -0.2 0 0 0</pose>
<!-- 6.35 Kg. (dock block) x 9 (num blocks) + 10 Kg (estimated). -->
<mass>67.15</mass>
<inertia>
<ixx>13.486</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>13.486</iyy>
<iyz>0</iyz>
<izz>25.1813</izz>
</inertia>
</inertial>
<visual name="base">
<geometry>
<mesh>
<uri>file://robotx_light_buoy_rgb/mesh/robotx_light_buoy.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>file://robotx_light_buoy_rgb/mesh/LightTower_Albedo.png</albedo_map>
<normal_map>file://robotx_light_buoy_rgb/mesh/LightTower_Normal.png</normal_map>
<roughness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Roughness.png</roughness_map>
<metalness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Metalness.png</metalness_map>
</metal>
</pbr>
</material>
</visual>
<visual name="panel_1">
<pose>-0.05 0.09 1.3 0 0 0.5</pose>
<geometry>
<box>
<size>.192 .01 .386</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<plugin name="vrx::LightBuoyPlugin" filename="libLightBuoyPlugin.so">
<color_1>red</color_1>
<color_2>green</color_2>
<color_3>yellow</color_3>
<visuals>
<visual>robotx_light_buoy_rgy::base_link::panel_1</visual>
<visual>robotx_light_buoy_rgy::base_link::panel_2</visual>
<visual>robotx_light_buoy_rgy::base_link::panel_3</visual>
</visuals>
</plugin>
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<visual name="panel_2">
<pose>-0.06 -0.085 1.3 0 0 -0.54719</pose>
<geometry>
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<material>
<script>
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<name>Gazebo/Black</name>
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<visual name="panel_3">
<pose>0.11 -0.003 1.3 0 0 1.5472</pose>
<geometry>
<box>
<size>.192 .01 .386</size>
</box>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
<collision name="collision_base">
<pose>0 0 -0.2 0 0 0</pose>
<geometry>
<box>
<size>1.5 1.5 0.4</size>
</box>
</geometry>
</collision>
<collision name="collision_body">
<pose>0 0 0.85 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.4</radius>
<length>1.75</length>
</cylinder>
</geometry>
</collision>
</link>

</model>
</sdf>
15 changes: 15 additions & 0 deletions vrx_gz/models/robotx_light_buoy_ybr/model.config
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@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>robotx_light_buoy</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Carlos Agüero</name>
<email>[email protected]</email>
</author>

<description>
Light buoy with LED panel used in the "Scan the Code" challenge in RobotX.
</description>
</model>
110 changes: 110 additions & 0 deletions vrx_gz/models/robotx_light_buoy_ybr/model.sdf
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@@ -0,0 +1,110 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="robotx_light_buoy_ybr">
<pose>0 0 -0.0762 0 0 0</pose>
<link name="base_link">
<inertial>
<pose>0 0 -0.2 0 0 0</pose>
<!-- 6.35 Kg. (dock block) x 9 (num blocks) + 10 Kg (estimated). -->
<mass>67.15</mass>
<inertia>
<ixx>13.486</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>13.486</iyy>
<iyz>0</iyz>
<izz>25.1813</izz>
</inertia>
</inertial>
<visual name="base">
<geometry>
<mesh>
<uri>file://robotx_light_buoy_rgb/mesh/robotx_light_buoy.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>file://robotx_light_buoy_rgb/mesh/LightTower_Albedo.png</albedo_map>
<normal_map>file://robotx_light_buoy_rgb/mesh/LightTower_Normal.png</normal_map>
<roughness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Roughness.png</roughness_map>
<metalness_map>file://robotx_light_buoy_rgb/mesh/LightTower_Metalness.png</metalness_map>
</metal>
</pbr>
</material>
</visual>
<visual name="panel_1">
<pose>-0.05 0.09 1.3 0 0 0.5</pose>
<geometry>
<box>
<size>.192 .01 .386</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<plugin name="vrx::LightBuoyPlugin" filename="libLightBuoyPlugin.so">
<color_1>yellow</color_1>
<color_2>blue</color_2>
<color_3>red</color_3>
<visuals>
<visual>robotx_light_buoy_ybr::base_link::panel_1</visual>
<visual>robotx_light_buoy_ybr::base_link::panel_2</visual>
<visual>robotx_light_buoy_ybr::base_link::panel_3</visual>
</visuals>
</plugin>
</visual>
<visual name="panel_2">
<pose>-0.06 -0.085 1.3 0 0 -0.54719</pose>
<geometry>
<box>
<size>.192 .01 .386</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
<visual name="panel_3">
<pose>0.11 -0.003 1.3 0 0 1.5472</pose>
<geometry>
<box>
<size>.192 .01 .386</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
<collision name="collision_base">
<pose>0 0 -0.2 0 0 0</pose>
<geometry>
<box>
<size>1.5 1.5 0.4</size>
</box>
</geometry>
</collision>
<collision name="collision_body">
<pose>0 0 0.85 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.4</radius>
<length>1.75</length>
</cylinder>
</geometry>
</collision>
</link>

</model>
</sdf>
15 changes: 15 additions & 0 deletions vrx_gz/models/robotx_light_buoy_yrg/model.config
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@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>robotx_light_buoy</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Carlos Agüero</name>
<email>[email protected]</email>
</author>

<description>
Light buoy with LED panel used in the "Scan the Code" challenge in RobotX.
</description>
</model>
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