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WIP: New world demo: road circuit
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@jlblancoc
jlblancoc committed Oct 11, 2024
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<mvsim_world version="1.0">
<!-- General simulation options -->
<simul_timestep>0</simul_timestep> <!-- Simulation fixed-time interval for numerical integration [seconds] or 0 to autodetermine -->

<!-- GUI options -->
<gui>
<ortho>false</ortho>
<show_forces>false</show_forces> <force_scale>0.01</force_scale>
<cam_distance>50</cam_distance>
<cam_azimuth>150</cam_azimuth>
<cam_elevation>75</cam_elevation>
<fov_deg>80</fov_deg>
<!-- <follow_vehicle>r1</follow_vehicle> -->
</gui>

<!-- Light parameters -->
<lights>
<enable_shadows>true</enable_shadows>
<light_azimuth_deg>-25.0</light_azimuth_deg>
<light_elevation_deg>40.0</light_elevation_deg>
</lights>


<!-- ========================
Scenario definition
======================== -->
<!-- ForestFloor01_1K_BaseColor
ForestGround01_1K_BaseColor
Grass01_1K_BaseColor
Pebbles02_512_BaseColor
https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png
https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png
-->

<element class='elevation_map'>
<resolution>4.0</resolution>
<elevation_data_matrix>[3e-2 -3e-2; 2e-2 1e-2;-1e-2 2e-2;-4e-2 2e-2;3e-2 1e-2;5e-2 -2e-2;-3e-2 1e-2;3e-2 1e-2;-1e-2 5e-2;-1e-2 2e-2;-1e-2 2e-2;-1e-2 2e-2;0e-2 0e-2]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
<texture_image_rotate>-90</texture_image_rotate>
<texture_extension_x>8.0</texture_extension_x>
<texture_extension_y>4.0</texture_extension_y>
<corner_min_x>-24</corner_min_x>
<corner_min_y>-2</corner_min_y>
<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
</element>
<element class='elevation_map'>
<resolution>4.0</resolution>
<elevation_data_matrix>[0e-2 0e-2; 0e-2 0e-2]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png</texture_image>
<texture_image_rotate>-90</texture_image_rotate>
<texture_extension_x>4.0</texture_extension_x>
<texture_extension_y>4.0</texture_extension_y>
<corner_min_x>24</corner_min_x>
<corner_min_y>-2</corner_min_y>
</element>
<element class='elevation_map'>
<resolution>4.0</resolution>
<elevation_data_matrix>[0e-2 0e-2 2e-2 1e-2 1e-2 1e-2 4e-2 4e-2 0e-2; 0e-2 3e-2 2e-2 1e-2 4e-2 1e-2 1e-2 -1e-2 0e-2]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
<texture_image_rotate>0</texture_image_rotate>
<texture_extension_x>4.0</texture_extension_x>
<texture_extension_y>8.0</texture_extension_y>
<corner_min_x>24</corner_min_x>
<corner_min_y>2</corner_min_y>
<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
</element>
<element class='elevation_map'>
<resolution>4.0</resolution>
<elevation_data_matrix>[0e-2 0e-2; 0e-2 0e-2]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png</texture_image>
<texture_image_rotate>0</texture_image_rotate>
<texture_extension_x>4.0</texture_extension_x>
<texture_extension_y>4.0</texture_extension_y>
<corner_min_x>24</corner_min_x>
<corner_min_y>34</corner_min_y>
</element>
<element class='elevation_map'>
<resolution>4.0</resolution>
<elevation_data_matrix>[3e-2 -3e-2; 2e-2 1e-2;-1e-2 2e-2;-4e-2 2e-2;3e-2 1e-2;5e-2 -2e-2;-3e-2 1e-2;3e-2 1e-2;-1e-2 5e-2;-1e-2 2e-2;-1e-2 2e-2;-1e-2 2e-2;0e-2 0e-2]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
<texture_image_rotate>-90</texture_image_rotate>
<texture_extension_x>8.0</texture_extension_x>
<texture_extension_y>4.0</texture_extension_y>
<corner_min_x>-24</corner_min_x>
<corner_min_y>34</corner_min_y>
<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
</element>

<element class="horizontal_plane">
<x_min>2</x_min> <y_min>26</y_min>
<x_max>6</x_max> <y_max>46</y_max>
<z>4.02</z>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/PavingStone11_1K_BaseColor.png</texture>
<texture_size_x>1.0</texture_size_x>
<texture_size_y>1.0</texture_size_y>
</element>

<block>
<static>true</static> <!-- Does not move -->
<color>#e0e0e0</color>
<zmin>0.10</zmin> <zmax>1.0</zmax>
<shape_from_visual/> <!-- automatic collision shape from 3D model -->
<geometry type="box" lx="0.07" ly="20.0" lz="0.75"/>
<init_pose3d>2.0 26.0 3.9 0 0 0</init_pose3d>
<skip_elevation_adjust>true</skip_elevation_adjust>
</block>
<block>
<static>true</static> <!-- Does not move -->
<color>#e0e0e0</color>
<zmin>0.10</zmin> <zmax>1.0</zmax>
<shape_from_visual/> <!-- automatic collision shape from 3D model -->
<geometry type="box" lx="0.07" ly="20.0" lz="0.75"/>
<init_pose3d>6.0 26.0 3.9 0 0 0</init_pose3d>
<skip_elevation_adjust>true</skip_elevation_adjust>
</block>


<element class='elevation_map'>
<resolution>8.0</resolution>
<elevation_data_matrix>
[0 1 4 1 0;
0 3 3 2 0;
0 0.7 2.5 3 0;
0 1 3 4 0;
0 0.7 2.9 4 0;
0 1.5 0 2 0;
0 0 0 0 0
]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/Dirt02_1K_BaseColor.png</texture_image>
<texture_image_rotate>0</texture_image_rotate>
<texture_extension_x>3.0</texture_extension_x>
<texture_extension_y>3.0</texture_extension_y>
<corner_min_x>-24</corner_min_x>
<corner_min_y>2</corner_min_y>
<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
</element>

<element class='elevation_map'>
<resolution>8.0</resolution>
<elevation_data_matrix>
[0 1 4 30;
0 3 3 25;
0 3 3 25;
0 3 3 25;
0 3 3 25;
0 4 2.5 28;
0 4 3 30;
0 4 2.9 29;
0 1 0 27;
0 1 0 27;
0 1 0 27;
0 1 0 27;
0 0 0 25
]</elevation_data_matrix>
<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/Dirt02_1K_BaseColor.png</texture_image>
<texture_image_rotate>0</texture_image_rotate>
<texture_extension_x>3.0</texture_extension_x>
<texture_extension_y>3.0</texture_extension_y>
<corner_min_x>-44</corner_min_x>
<corner_min_y>38</corner_min_y>
<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
</element>


<!-- A SkyBox decoration -->
<element class='skybox'>
<!-- Provide the URI printf-like "pattern" to the six texture files,
such that replacing "%s" with the following strings gives the path
to the files: "Up", "Right", "Left", "Front", "Down", "Back".
-->
<textures>https://mrpt.github.io/mvsim-models/skyboxes/TropicalSunnyDay.zip/TropicalSunnyDay/TropicalSunnyDay%s.jpg</textures>
</element>

<!-- =============================
Vehicle classes definition
============================= -->
<include file="../definitions/jackal.vehicle.xml"
default_sensors="false"
/>

<!-- ========================
Vehicle(s) definition
======================== -->
<vehicle name="r1" class="jackal">
<init_pose>0 0 0</init_pose> <!-- In global coords: x,y, yaw(deg) -->

<visual>
<model_uri>https://mrpt.github.io/mvsim-models/robot-agricobiot2/mast.dae</model_uri>
<model_offset_x>0</model_offset_z>
<model_offset_y>0</model_offset_y>
<model_offset_z>0</model_offset_z>
<model_yaw>180.0</model_yaw>
<model_pitch>0.0</model_pitch>
<model_roll>90.0</model_roll>
</visual>

<!-- Sensors -->

<include file="../definitions/velodyne-vlp16.sensor.xml"
sensor_x="-0.08" sensor_y="0" sensor_z="0.87" sensor_yaw="0"
sensor_std_noise="0.005"
sensor_publish="false"
sensor_name="lidar1"
sensor_rpm="600"
horz_resolution_factor="2.0"
vert_resolution_factor="2.0"
/>

<include file="../definitions/camera.sensor.xml"
sensor_x="0.03" sensor_z="0.73"
ncols="800" nrows="600"
cx="400" cy="300"
sensor_period_sec="0.10"
/>

</vehicle>



<!-- ======================================
Obstacle blocks classes definition
====================================== -->
<block:class name="rock_01">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<zmin>0.0</zmin> <zmax>2.5</zmax> <!-- Only count collisions in this height range -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/rock01.zip/rock01/FallingRock01.dae</model_uri>
</visual>
</block:class>

<block:class name="rock_02">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<zmin>0.0</zmin> <zmax>2.5</zmax> <!-- Only count collisions in this height range -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/rock02.zip/rock02/FallingRock02.dae</model_uri>
</visual>
</block:class>

<block:class name="palm_tree_01">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<zmin>0.0</zmin> <zmax>0.5</zmax> <!-- Only count collisions in this height range -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/TropicPalmTree.zip/TropicPalmTree/free_palm.dae</model_uri>
<model_roll>90</model_roll>
<model_split_size>1.50</model_split_size> <!-- See docs. Required for transparent leaves -->
</visual>
</block:class>

<block:class name="construction_cone">
<static>false</static>
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<zmin>0.0</zmin> <zmax>0.5</zmax> <!-- Only count collisions in this height range -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/ConstructionCone.zip/ConstructionCone/construction_cone.dae</model_uri>
<model_roll>90</model_roll>
<model_scale>5</model_scale>
</visual>
</block:class>


<!-- ========================
Obstacle blocks
======================== -->

<block class="construction_cone">
<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
<init_pose3d>2 1 0 0 0 0</init_pose3d>
</block>


<variable name="ROCKS_SPREAD_X" value="35.0"></variable>
<variable name="ROCKS_SPREAD_Y" value="35.0"></variable>
<variable name="ROCKS_SPREAD_Z" value="1.0"></variable>

<variable name="TREES_SPREAD_X" value="20.0"></variable>
<variable name="TREES_SPREAD_Y" value="20.0"></variable>
<variable name="TREES_SPREAD_Z" value="0"></variable>

<for var="i" from="1" to="12">
<block class="rock_01">
<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
<init_pose3d>$f{(-0.5+rand())*ROCKS_SPREAD_X} $f{(-0.5+rand())*ROCKS_SPREAD_Y} $f{(-0.5+rand())*ROCKS_SPREAD_Z} $f{-180+rand()*360} 0 0</init_pose3d>
</block>
</for>

<for var="i" from="1" to="5">
<block class="palm_tree_01">
<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
<init_pose3d>$f{(-0.5+rand())*TREES_SPREAD_X} $f{(-0.5+rand())*TREES_SPREAD_Y} $f{(-0.5+rand())*TREES_SPREAD_Z} $f{-180+rand()*360} 0 0</init_pose3d>
</block>
</for>

</mvsim_world>

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