diff --git a/CMakeLists.txt b/CMakeLists.txt index 9f26253..2c9e9e6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,29 +1,8 @@ -################################################################################ -# Set minimum required version of cmake, project name and compile options -################################################################################ cmake_minimum_required(VERSION 3.5) project(aws_robomaker_small_warehouse_world) -################################################################################ -# Find ament packages and libraries for ament and system dependencies -################################################################################ -find_package(ament_cmake REQUIRED) -find_package(gazebo_ros REQUIRED) - -################################################################################ -# Install -################################################################################ -install( - DIRECTORY launch models worlds maps rviz - DESTINATION share/${PROJECT_NAME} -) +find_package(ament_cmake_auto REQUIRED) ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_warehouse_world.dsv.in") -ament_export_dependencies(ament_cmake) -ament_export_dependencies(gazebo_ros) - -################################################################################ -# Macro for ament package -################################################################################ -ament_package() +ament_auto_package(INSTALL_TO_SHARE launch maps models rviz worlds) diff --git a/README.md b/README.md index 537405b..eeb6df9 100644 --- a/README.md +++ b/README.md @@ -62,8 +62,8 @@ This Gazebo world is well suited for organizations who are building and testing To open this world in Gazebo, change the directory to your ROS workspace root folder and run: ```bash -export GAZEBO_MODEL_PATH=`pwd`/models -gazebo worlds/small_warehouse/small_warehouse.world +export GZ_SIM_RESOURCE_PATH=`pwd`/models +gz sim worlds/small_warehouse.sdf ``` ## Example: Running this world directly using ROS without a simulated robot diff --git a/env-hooks/aws_robomaker_small_warehouse_world.dsv.in b/env-hooks/aws_robomaker_small_warehouse_world.dsv.in index b8548d4..77c3fed 100644 --- a/env-hooks/aws_robomaker_small_warehouse_world.dsv.in +++ b/env-hooks/aws_robomaker_small_warehouse_world.dsv.in @@ -1,2 +1 @@ -prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/models -prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/worlds \ No newline at end of file +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_warehouse_world/models \ No newline at end of file diff --git a/launch/no_roof_small_warehouse.launch.py b/launch/no_roof_small_warehouse.launch.py index 1b286ad..cc6dcf5 100644 --- a/launch/no_roof_small_warehouse.launch.py +++ b/launch/no_roof_small_warehouse.launch.py @@ -12,25 +12,30 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -from ament_index_python.packages import get_package_share_directory - -import launch +from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): - ld = launch.LaunchDescription([ - launch.actions.IncludeLaunchDescription( - launch.launch_description_sources.PythonLaunchDescriptionSource( - [get_package_share_directory( - 'aws_robomaker_small_warehouse_world'), '/launch/small_warehouse.launch.py'] - ), - launch_arguments={ - 'world': os.path.join(get_package_share_directory('aws_robomaker_small_warehouse_world'), 'worlds', 'no_roof_small_warehouse', 'no_roof_small_warehouse.world') - }.items() - ) + world = PathJoinSubstitution([ + FindPackageShare('aws_robomaker_small_warehouse_world'), + 'worlds', + 'no_roof_small_warehouse.sdf' ]) - return ld + + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + FindPackageShare('aws_robomaker_small_warehouse_world'), + 'launch', + 'small_warehouse.launch.py' + ]) + ), + launch_arguments={'world': world}.items() + ) + + return LaunchDescription([gz_sim]) diff --git a/launch/small_warehouse.launch.py b/launch/small_warehouse.launch.py index d9e2253..f3cf976 100644 --- a/launch/small_warehouse.launch.py +++ b/launch/small_warehouse.launch.py @@ -12,67 +12,36 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os -from ament_index_python.packages import get_package_share_directory - -import launch from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription -from launch.conditions import IfCondition +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PythonExpression -from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare def generate_launch_description(): - # Get the launch directory - aws_small_warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world') - gazebo_ros = get_package_share_directory('gazebo_ros') - - # Launch configuration variables specific to simulation - use_sim_time = LaunchConfiguration('use_sim_time') - use_simulator = LaunchConfiguration('use_simulator') - headless = LaunchConfiguration('headless') world = LaunchConfiguration('world') - declare_use_sim_time_cmd = DeclareLaunchArgument( - 'use_sim_time', - default_value='True', - description='Use simulation (Gazebo) clock if true') - - declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') - declare_world_cmd = DeclareLaunchArgument( 'world', - default_value=os.path.join(aws_small_warehouse_dir, 'worlds', 'small_warehouse', 'small_warehouse.world'), - description='Full path to world model file to load') - - # Specify the actions - start_gazebo_server_cmd = launch.actions.IncludeLaunchDescription( - launch.launch_description_sources.PythonLaunchDescriptionSource( - os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py')) + default_value=PathJoinSubstitution([ + FindPackageShare('aws_robomaker_small_warehouse_world'), + 'worlds', + 'small_warehouse.sdf' + ]), + description='Full path to world model file to load' ) - start_gazebo_client_cmd = launch.actions.IncludeLaunchDescription( - launch.launch_description_sources.PythonLaunchDescriptionSource( - os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')), - condition=IfCondition(PythonExpression(['not ', headless])) + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py' + ]) + ), + launch_arguments={'gz_args': world}.items(), ) - # Create the launch description and populate - ld = LaunchDescription() - - # Declare the launch options - ld.add_action(declare_use_sim_time_cmd) - ld.add_action(declare_simulator_cmd) - ld.add_action(declare_world_cmd) - - # Add any conditioned actions - ld.add_action(start_gazebo_server_cmd) - ld.add_action(start_gazebo_client_cmd) - - return ld + return LaunchDescription([declare_world_cmd, gz_sim]) diff --git a/models/aws_robomaker_warehouse_Bucket_01/model.sdf b/models/aws_robomaker_warehouse_Bucket_01/model.sdf index 1a11c29..f6c1132 100644 --- a/models/aws_robomaker_warehouse_Bucket_01/model.sdf +++ b/models/aws_robomaker_warehouse_Bucket_01/model.sdf @@ -2,7 +2,7 @@ - + 2 0 0 0 0 0 0 @@ -21,10 +21,10 @@ - file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE + meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE - 1 + 1 0 @@ -32,11 +32,11 @@ 0 0 0 0 -0 0 - file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE + meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE 1 1 1 - + 0.4 diff --git a/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf index e0ab80f..4eea194 100644 --- a/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf +++ b/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf @@ -16,7 +16,7 @@ - file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE + meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE 1 1 1 @@ -44,10 +44,10 @@ - file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE + meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE - 1 + 1 1 diff --git a/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf index 0a1802a..1ae22d0 100644 --- a/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf +++ b/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE + meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE 1 1 1 - + 0.6 @@ -42,12 +42,12 @@ - + - file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE + meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE - 1 + 1 1 diff --git a/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf index 31da401..838ffcd 100644 --- a/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf +++ b/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf @@ -16,7 +16,7 @@ - file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE + meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE 1 1 1 @@ -42,14 +42,14 @@ - + - file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE + meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_DeskC_01/model.sdf b/models/aws_robomaker_warehouse_DeskC_01/model.sdf index 3fcbd97..ceedb4b 100644 --- a/models/aws_robomaker_warehouse_DeskC_01/model.sdf +++ b/models/aws_robomaker_warehouse_DeskC_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE + meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE 1 1 1 - + 0.3 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE + meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_GroundB_01/model.sdf b/models/aws_robomaker_warehouse_GroundB_01/model.sdf index abab8b4..109b448 100644 --- a/models/aws_robomaker_warehouse_GroundB_01/model.sdf +++ b/models/aws_robomaker_warehouse_GroundB_01/model.sdf @@ -4,19 +4,19 @@ 1000 - + - file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE + meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE 1 1 1 @@ -33,14 +33,14 @@ - + - file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE + meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_Lamp_01/model.sdf b/models/aws_robomaker_warehouse_Lamp_01/model.sdf index 8b636c8..088790f 100644 --- a/models/aws_robomaker_warehouse_Lamp_01/model.sdf +++ b/models/aws_robomaker_warehouse_Lamp_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE + meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE 1 1 1 - + 0.2 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE + meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf b/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf index b6568b1..5f90931 100644 --- a/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf +++ b/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE + meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE 1 1 1 - + 0.2 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE + meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_RoofB_01/model.sdf b/models/aws_robomaker_warehouse_RoofB_01/model.sdf index 11f8fb6..a44573c 100644 --- a/models/aws_robomaker_warehouse_RoofB_01/model.sdf +++ b/models/aws_robomaker_warehouse_RoofB_01/model.sdf @@ -5,23 +5,23 @@ 1000 0 0 0 0 0 0 - + - file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE + meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE 1 1 1 - + 0.6 @@ -43,13 +43,13 @@ - + - file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE + meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE - 3 - + 3 + 1 diff --git a/models/aws_robomaker_warehouse_ShelfD_01/model.sdf b/models/aws_robomaker_warehouse_ShelfD_01/model.sdf index 3b4f0ed..600bfb2 100644 --- a/models/aws_robomaker_warehouse_ShelfD_01/model.sdf +++ b/models/aws_robomaker_warehouse_ShelfD_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE + meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE 1 1 1 - + 0.2 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE + meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_ShelfE_01/model.sdf b/models/aws_robomaker_warehouse_ShelfE_01/model.sdf index 5c043ec..e29509b 100644 --- a/models/aws_robomaker_warehouse_ShelfE_01/model.sdf +++ b/models/aws_robomaker_warehouse_ShelfE_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE + meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE 1 1 1 - + 0.2 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE + meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_ShelfF_01/model.sdf b/models/aws_robomaker_warehouse_ShelfF_01/model.sdf index c140f01..c6f2c70 100644 --- a/models/aws_robomaker_warehouse_ShelfF_01/model.sdf +++ b/models/aws_robomaker_warehouse_ShelfF_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE + meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE 1 1 1 - + 0.2 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE + meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf b/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf index c5915e1..fa7fa95 100644 --- a/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf +++ b/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf @@ -16,11 +16,11 @@ - file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE + meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE 1 1 1 - + 0.4 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE + meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE - 1 - + 1 + -1 + 1 diff --git a/models/aws_robomaker_warehouse_WallB_01/model.sdf b/models/aws_robomaker_warehouse_WallB_01/model.sdf index e1695f3..c2f8c01 100644 --- a/models/aws_robomaker_warehouse_WallB_01/model.sdf +++ b/models/aws_robomaker_warehouse_WallB_01/model.sdf @@ -4,23 +4,23 @@ 1000 - + - file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE + meshes/aws_robomaker_warehouse_WallB_01_collision.DAE 1 1 1 - + 0.5 @@ -29,18 +29,18 @@ 0 0 - - + + - + - file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE + meshes/aws_robomaker_warehouse_WallB_01_visual.DAE - 2 - + 2 + -1 + 1 diff --git a/package.xml b/package.xml index 8ce31c0..3e18ccc 100644 --- a/package.xml +++ b/package.xml @@ -9,14 +9,11 @@ AWS RoboMaker AWS RoboMaker - ament_cmake - - gazebo_ros - gazebo - gazebo_plugins + ament_cmake_auto + + ros_gz_sim ament_cmake - diff --git a/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world b/worlds/no_roof_small_warehouse.sdf similarity index 69% rename from worlds/no_roof_small_warehouse/no_roof_small_warehouse.world rename to worlds/no_roof_small_warehouse.sdf index 91fece4..0c8448c 100644 --- a/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world +++ b/worlds/no_roof_small_warehouse.sdf @@ -9,235 +9,229 @@ 1000 - - + --> - + model://aws_robomaker_warehouse_ShelfF_01 -5.795143 -0.956635 0 0 0 0 - + model://aws_robomaker_warehouse_WallB_01 0.0 0.0 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 0.57943 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 -4.827049 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 -8.6651 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -1.242668 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -3.038551 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -6.750542 0 0 0 0 - + --> - + model://aws_robomaker_warehouse_GroundB_01 0.0 0.0 -0.090092 0 0 0 - + model://aws_robomaker_warehouse_Lamp_01 0 0 -4 0 0 0 - - - + model://aws_robomaker_warehouse_Bucket_01 0.433449 9.631706 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_Bucket_01 -1.8321 -6.3752 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_Bucket_01 0.433449 8.59 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_ClutteringA_01 5.708138 8.616844 -0.017477 0 0 0 - + model://aws_robomaker_warehouse_ClutteringA_01 3.408638 8.616844 -0.017477 0 0 0 - + model://aws_robomaker_warehouse_ClutteringA_01 -1.491287 5.222435 -0.017477 0 0 -1.583185 - - + model://aws_robomaker_warehouse_ClutteringC_01 3.324959 3.822449 -0.012064 0 0 1.563871 - + model://aws_robomaker_warehouse_ClutteringC_01 5.54171 3.816475 -0.015663 0 0 -1.583191 - + model://aws_robomaker_warehouse_ClutteringC_01 5.384239 6.137154 0 0 0 3.150000 - + model://aws_robomaker_warehouse_ClutteringC_01 3.236 6.137154 0 0 0 3.150000 - + model://aws_robomaker_warehouse_ClutteringC_01 -1.573677 2.301994 -0.015663 0 0 -3.133191 - + model://aws_robomaker_warehouse_ClutteringC_01 -1.2196 9.407 -0.015663 0 0 1.563871 - + model://aws_robomaker_warehouse_ClutteringD_01 -1.634682 -7.811813 -0.319559 0 0 0 - + model://aws_robomaker_warehouse_TrashCanC_01 -1.592441 7.715420 0 0 0 0 - - + model://aws_robomaker_warehouse_PalletJackB_01 -0.276098 -9.481944 0.023266 0 0 0 - - 0 0 9 0 0 0 - 0.5 0.5 0.5 1 - 0.2 0.2 0.2 1 - - 80 - 0.3 - 0.01 - 0.001 - - 1 - 0.1 0.1 -1 + 0 0 9 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 1 + 0.1 0.1 -1 - - -4.70385 10.895 16.2659 -0 0.921795 -1.12701 - orbit - perspective - + + -4.70385 10.895 16.2659 -0 0.921795 -1.12701 + orbit + perspective + diff --git a/worlds/small_warehouse/small_warehouse.world b/worlds/small_warehouse.sdf similarity index 72% rename from worlds/small_warehouse/small_warehouse.world rename to worlds/small_warehouse.sdf index cb845fd..1735536 100644 --- a/worlds/small_warehouse/small_warehouse.world +++ b/worlds/small_warehouse.sdf @@ -9,129 +9,126 @@ 1000 - - + model://aws_robomaker_warehouse_RoofB_01 0.0 0.0 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfF_01 -5.795143 -0.956635 0 0 0 0 - + model://aws_robomaker_warehouse_WallB_01 0.0 0.0 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 0.57943 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 -4.827049 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfE_01 4.73156 -8.6651 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -1.242668 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -3.038551 0 0 0 0 - + model://aws_robomaker_warehouse_ShelfD_01 4.73156 -6.750542 0 0 0 0 - + --> - + model://aws_robomaker_warehouse_GroundB_01 0.0 0.0 -0.090092 0 0 0 - + model://aws_robomaker_warehouse_Lamp_01 0 0 -4 0 0 0 - - - + model://aws_robomaker_warehouse_Bucket_01 0.433449 9.631706 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_Bucket_01 -1.8321 -6.3752 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_Bucket_01 0.433449 8.59 0 0 0 -1.563161 - + model://aws_robomaker_warehouse_ClutteringA_01 @@ -145,93 +142,89 @@ 3.408638 8.616844 -0.017477 0 0 0 - + model://aws_robomaker_warehouse_ClutteringA_01 -1.491287 5.222435 -0.017477 0 0 -1.583185 - - + model://aws_robomaker_warehouse_ClutteringC_01 3.324959 3.822449 -0.012064 0 0 1.563871 - + model://aws_robomaker_warehouse_ClutteringC_01 5.54171 3.816475 -0.015663 0 0 -1.583191 - + model://aws_robomaker_warehouse_ClutteringC_01 5.384239 6.137154 0 0 0 3.150000 - + model://aws_robomaker_warehouse_ClutteringC_01 3.236 6.137154 0 0 0 3.150000 - + model://aws_robomaker_warehouse_ClutteringC_01 -1.573677 2.301994 -0.015663 0 0 -3.133191 - + model://aws_robomaker_warehouse_ClutteringC_01 -1.2196 9.407 -0.015663 0 0 1.563871 - + model://aws_robomaker_warehouse_ClutteringD_01 -1.634682 -7.811813 -0.319559 0 0 0 - + model://aws_robomaker_warehouse_TrashCanC_01 -1.592441 7.715420 0 0 0 0 - - + model://aws_robomaker_warehouse_PalletJackB_01 -0.276098 -9.481944 0.023266 0 0 0 - - 0 0 9 0 0 0 - 0.5 0.5 0.5 1 - 0.2 0.2 0.2 1 - - 80 - 0.3 - 0.01 - 0.001 - - 1 - 0.1 0.1 -1 + 0 0 9 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 1 + 0.1 0.1 -1 -