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Revert "Revert "Add maze""
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This reverts commit 39b3997.
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@sundermann
sundermann committed Jun 12, 2023
1 parent edd70bf commit e82c812
Showing 1 changed file with 324 additions and 0 deletions.
324 changes: 324 additions & 0 deletions catkin_ws/src/autominy_simulator/autominy_sim/worlds/empty.world
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,330 @@
<kinematic>0</kinematic>
</link>
</model>
<model name='maze_walls'>
<pose>2.25275 3.18267 0 0 -0 1.5708</pose>
<scale>1 1 0.1</scale>
<link name='Wall_0'>
<collision name='Wall_0_Collision'>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_0_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>2.92873 -0.496274 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_1'>
<collision name='Wall_1_Collision'>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_1_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>0.003726 2.42873 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_11'>
<collision name='Wall_11_Collision'>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_11_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>-0.656274 -0.511274 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_12'>
<collision name='Wall_12_Collision'>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_12_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>0.518726 -1.31127 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_13'>
<collision name='Wall_13_Collision'>
<geometry>
<box>
<size>1.40399 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_13_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.40399 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>1.14373 -2.06127 0 0 -0 0.07983</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_15'>
<collision name='Wall_15_Collision'>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_15_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>-1.45068 -2.55877 0 0 -0 -0.523599</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_3'>
<collision name='Wall_3_Collision'>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_3_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>1.76873 -0.336274 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_4'>
<collision name='Wall_4_Collision'>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_4_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>-0.031274 1.33873 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_6'>
<collision name='Wall_6_Collision'>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_6_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>-2.92127 -0.496274 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_7'>
<collision name='Wall_7_Collision'>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_7_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>0.003726 -3.42127 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_9'>
<collision name='Wall_9_Collision'>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
</collision>
<visual name='Wall_9_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<pose>-1.83127 0.413726 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
</model>
<gravity>0 0 -9.81</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
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