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modify large track
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@anchobi-no
anchobi-no committed Mar 4, 2021
1 parent 4afd268 commit 0b97a01
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Showing 20 changed files with 487 additions and 18 deletions.
17 changes: 17 additions & 0 deletions ai_race/sim_world/meshes/transparent/scripts/transparent_wall.material
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material vrc/transparent_wall
{
receive_shadows off
technique
{
pass
{
texture_unit
{
texture white_wall.png
filtering anistropic
max_anisotropy 16
scale 1 1
}
}
}
}
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16 changes: 16 additions & 0 deletions ai_race/sim_world/models/transparent_block_1100_20_20cm/model.config
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<?xml version="1.0"?>

<model>
<name>Transparent_block_1100_20_20</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>[email protected]</email>
</author>

<description>
A 100 x 10 x 10 cm wooden block.
</description>
</model>
70 changes: 70 additions & 0 deletions ai_race/sim_world/models/transparent_block_1100_20_20cm/model.rsdf
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<?xml version="1.0" ?>
<%
# Wood block with dimensions 10 x 2.5 x 1 cm
# SI units (length in meters)
# Geometry
dx = 0.2
dy = 11.00
dz = 0.2
# Material
# Assume soft wood with density of 500 kg / m^3
density = 500
# Inertia
mass = density * dx * dy * dz
ixx = mass/12.0 * (dy**2 + dz**2)
iyy = mass/12.0 * (dz**2 + dx**2)
izz = mass/12.0 * (dx**2 + dy**2)
%>
<sdf version="1.5">
<model name="wood_block_10_2_1cm">
<static>true</static>
<link name="link">
<pose>0 0 <%= dz/2 %> 0 0 0</pose>
<inertial>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy><%= iyy %></iyy>
<iyz>0</iyz>
<izz><%= izz %></izz>
</inertia>
</inertial>

<collision name="collision">
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>

<visual name="visual">
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>

</link>
</model>
</sdf>
73 changes: 73 additions & 0 deletions ai_race/sim_world/models/transparent_block_1100_20_20cm/model.sdf
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<?xml version="1.0" ?>

<sdf version="1.5">
<model name="wood_block_144_10_10cm">
<static>true</static>
<link name="link">
<pose>0 0 0.05 0 0 0</pose>

<inertial>
<mass>1000</mass>
<!--
<inertia>
<ixx>7.552083333333335e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0520833333333334e-05</iyy>
<iyz>0</iyz>
<izz>1.1067708333333336e-05</izz>
</inertia>
-->
</inertial>


<collision name="collision">
<geometry>
<box>
<size>11.00 0.2 0.2</size>
</box>
</geometry>
<surface>
<contact>
<!-- Red Pine coefficients for longitudinal axis of the wood
according to:
http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->

<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>8.8e+09</elastic_modulus>
<ode>
<kp>100000</kp>
<kd>1</kd>
<max_vel>1.0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<torsional>
<coefficient>1.0</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.05</surface_radius>
</torsional>
</friction>
</surface>
</collision>

<visual name="visual">
<geometry>
<box>
<size>11.0 0.2 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://sim_world/meshes/transparent/scripts</uri>
<uri>model://sim_world/meshes/transparent/textures</uri>
<name>vrc/transparent</name>
</script>
</material>
</visual>


</link>
</model>
</sdf>
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16 changes: 16 additions & 0 deletions ai_race/sim_world/models/transparent_block_700_20_20cm/model.config
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<?xml version="1.0"?>

<model>
<name>Transparent_block_700_20_20</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>[email protected]</email>
</author>

<description>
A 100 x 10 x 10 cm wooden block.
</description>
</model>
71 changes: 71 additions & 0 deletions ai_race/sim_world/models/transparent_block_700_20_20cm/model.rsdf
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<?xml version="1.0" ?>
<%
# Wood block with dimensions 10 x 2.5 x 1 cm
# SI units (length in meters)
# Geometry
dx = 0.2
dy = 7.00
dz = 0.2
# Material
# Assume soft wood with density of 500 kg / m^3
density = 500
# Inertia
mass = density * dx * dy * dz
ixx = mass/12.0 * (dy**2 + dz**2)
iyy = mass/12.0 * (dz**2 + dx**2)
izz = mass/12.0 * (dx**2 + dy**2)
%>
<sdf version="1.5">
<model name="wood_block_10_2_1cm">
<static>true</static>
<link name="link">
<pose>0 0 <%= dz/2 %> 0 0 0</pose>
<inertial>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy><%= iyy %></iyy>
<iyz>0</iyz>
<izz><%= izz %></izz>
</inertia>
</inertial>

<collision name="collision">
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>

<visual name="visual">
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<material>
<script>
<uri>model://sim_world/meshes/transparent/scripts</uri>
<uri>model://sim_world/meshes/transparent/textures</uri>
<name>vrc/transparent</name>
</script>
</material>
</visual>

</link>
</model>
</sdf>
73 changes: 73 additions & 0 deletions ai_race/sim_world/models/transparent_block_700_20_20cm/model.sdf
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<?xml version="1.0" ?>

<sdf version="1.5">
<model name="wood_block_144_10_10cm">
<static>true</static>
<link name="link">
<pose>0 0 0.05 0 0 0</pose>

<inertial>
<mass>1000</mass>
<!--
<inertia>
<ixx>7.552083333333335e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0520833333333334e-05</iyy>
<iyz>0</iyz>
<izz>1.1067708333333336e-05</izz>
</inertia>
-->
</inertial>


<collision name="collision">
<geometry>
<box>
<size>7.0 0.2 0.2</size>
</box>
</geometry>
<surface>
<contact>
<!-- Red Pine coefficients for longitudinal axis of the wood
according to:
http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->

<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>8.8e+09</elastic_modulus>
<ode>
<kp>100000</kp>
<kd>1</kd>
<max_vel>1.0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<torsional>
<coefficient>1.0</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.05</surface_radius>
</torsional>
</friction>
</surface>
</collision>

<visual name="visual">
<geometry>
<box>
<size>7.0 0.2 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>model://sim_world/meshes/transparent/scripts</uri>
<uri>model://sim_world/meshes/transparent/textures</uri>
<name>vrc/transparent</name>
</script>
</material>
</visual>


</link>
</model>
</sdf>
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17 changes: 17 additions & 0 deletions ai_race/sim_world/models/transparent_wall_24m/materials/scripts/white_wall.material
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material vrc/grey_wall
{
receive_shadows off
technique
{
pass
{
texture_unit
{
texture white_wall.png
filtering anistropic
max_anisotropy 16
scale 1 1
}
}
}
}
Binary file added ai_race/sim_world/models/transparent_wall_24m/materials/textures/grey_wall.png
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Binary file added ai_race/sim_world/models/transparent_wall_24m/materials/textures/white_wall.png
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31 changes: 31 additions & 0 deletions ai_race/sim_world/models/transparent_wall_24m/model-1_3.sdf
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="white_wall">
<static>true</static>
<link name="link">
<pose>0 0 1.4 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>24.0 0.2 2.8</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>24.0 0.2 2.8</size>
</box>
</geometry>
<material>
<script>
<uri>model://sim_world/meshes/transparent/scripts</uri>
<uri>model://sim_world/meshes/transparent/textures</uri>
<name>vrc/transparent</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
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