/
demo_greenhouse.world.xml
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/
demo_greenhouse.world.xml
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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 -->
<joystick_enabled>true</joystick_enabled>
<!-- GUI options -->
<gui>
<ortho>false</ortho>
<show_forces>false</show_forces> <force_scale>0.01</force_scale>
<cam_distance>10</cam_distance>
<fov_deg>60</fov_deg>
<refresh_fps>15</refresh_fps>
<cam_point_to>1.5 13</cam_point_to>
<!-- <follow_vehicle>r1</follow_vehicle> -->
</gui>
<!-- Light parameters -->
<lights>
<enable_shadows>true</enable_shadows>
<!-- <shadow_map_size>1024</shadow_map_size> -->
<light_azimuth_deg>160.0</light_azimuth_deg>
<light_elevation_deg>40.0</light_elevation_deg>
</lights>
<variable name="NUM_TILTED_BEAMS_X" value="21"></variable>
<variable name="NUM_TILTED_BEAMS_Y" value="10"></variable>
<variable name="NUM_CORRIDORS_X" value="10"></variable>
<variable name="NUM_PLANTS_CORRIDOR_SOUTH" value="8"></variable>
<variable name="NUM_PLANTS_CORRIDOR_NORTH" value="12"></variable>
<variable name="NUM_POLES_X" value="10"></variable>
<variable name="NUM_POLES_Y" value="10"></variable>
<variable name="PLANTS_RAND_XY" value="0.35"></variable>
<variable name="CEILING_HEIGHT" value="3.0"></variable>
<!-- ========================
Scenario definition
======================== -->
<!-- ground -->
<element class="horizontal_plane">
<cull_face>BACK</cull_face>
<x_min>0</x_min> <y_min>0</y_min>
<x_max>46</x_max> <y_max>28.6</y_max>
<z>0.0</z>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/Dirt01_512_BaseColor.png</texture>
<texture_size_x>1.5</texture_size_x>
<texture_size_y>1.5</texture_size_y>
</element>
<!-- ceiling -->
<element class="horizontal_plane">
<cull_face>FRONT</cull_face>
<x_min>0</x_min> <y_min>0</y_min>
<x_max>46</x_max> <y_max>28.6</y_max>
<z>$f{CEILING_HEIGHT}</z>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/BathroomTiles03_1K_BaseColor.png</texture>
<texture_size_x>3.0</texture_size_x>
<texture_size_y>3.0</texture_size_y>
</element>
<!-- perimeter walls: -->
<!--<element class="vertical_plane">
<cull_face>FRONT</cull_face>
<x0>-15</x0> <y0>13</y0>
<x1>-15</x1> <y1>-13</y1>
<z>0.0</z> <height>$f{CEILING_HEIGHT}</height>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png</texture>
<texture_size_x>3.0</texture_size_x>
<texture_size_y>3.0</texture_size_y>
</element>
<element class="vertical_plane">
<cull_face>FRONT</cull_face>
<x0> 20</x0> <y0>13</y0>
<x1>-15</x1> <y1>13</y1>
<z>0.0</z> <height>$f{CEILING_HEIGHT}</height>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png</texture>
<texture_size_x>3.0</texture_size_x>
<texture_size_y>3.0</texture_size_y>
</element>
<element class="vertical_plane">
<cull_face>FRONT</cull_face>
<x0> 20</x0> <y0>-13</y0>
<x1> 20</x1> <y1>13</y1>
<z>0.0</z> <height>$f{CEILING_HEIGHT}</height>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png</texture>
<texture_size_x>3.0</texture_size_x>
<texture_size_y>3.0</texture_size_y>
</element>
<element class="vertical_plane">
<cull_face>FRONT</cull_face>
<x0>-15</x0> <y0>-13</y0>
<x1> 20</x1> <y1>-13</y1>
<z>0.0</z> <height>$f{CEILING_HEIGHT}</height>
<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/wall-bricks-01.png</texture>
<texture_size_x>3.0</texture_size_x>
<texture_size_y>3.0</texture_size_y>
</element>
-->
<!-- =============================
Vehicle classes definition
============================= -->
<include file="../definitions/agricobiot2.vehicle.xml" />
<!-- ========================
Vehicle(s) definition
======================== -->
<vehicle name="r1" class="agricobiot2">
<init_pose>1.5 13 0</init_pose> <!-- In global coords: x,y, yaw(deg) -->
<!--<publish>
<publish_pose_topic>/${NAME}/pose</publish_pose_topic>
<publish_pose_period>50e-3</publish_pose_period>
</publish>-->
<!-- Sensors -->
<!-- <include file="../definitions/lidar2d.sensor.xml"
sensor_x="-0.15" sensor_z="0.25" sensor_yaw="180"
sensor_period_sec="0.10"
raytrace_3d="false"
sensor_name="scanner1"
/>-->
<!-- velodyne-vlp16.sensor.xml -->
<!-- helios-32.sensor.xml -->
<include file="../definitions/velodyne-vlp16.sensor.xml"
sensor_x="-0.34" sensor_y="0.01" sensor_z="1.53" sensor_yaw="180"
sensor_std_noise="0.005"
sensor_publish="false"
sensor_name="lidar1"
sensor_rpm="600"
horz_resolution_factor="1.5"
vert_resolution_factor="1.0"
/>
<include file="../definitions/camera.sensor.xml"
sensor_x="0.9" sensor_y="0" sensor_z="0.75"
sensor_period_sec="0.20"
sensor_name="cam1"
/>
</vehicle>
<!-- ======================================
Object types
====================================== -->
<block:class name="pole_tilted">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<!-- Custom visualization model. 3D model filename to load (local or remote http://uri ) -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/greenhouse.zip/greenhouse/pole_tilted_he120e.stl</model_uri>
<model_offset_z>1.2</model_offset_z>
<model_roll>90.0</model_roll>
</visual>
</block:class>
<block:class name="pole_009">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<!-- Custom visualization model. 3D model filename to load (local or remote http://uri ) -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/greenhouse.zip/greenhouse/pole_009.stl</model_uri>
<model_offset_z>1.2</model_offset_z>
</visual>
</block:class>
<block:class name="pole_004">
<static>true</static> <!-- Does not move -->
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<!-- Custom visualization model. 3D model filename to load (local or remote http://uri ) -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/greenhouse.zip/greenhouse/pole_004.stl</model_uri>
<model_offset_z>1.2</model_offset_z>
</visual>
</block:class>
<block:class name="plant_tomato">
<static>true</static> <!-- Does not move -->
<mass>5</mass>
<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
<!-- Custom visualization model. 3D model filename to load (local or remote http://uri ) -->
<visual>
<model_uri>https://mrpt.github.io/mvsim-models/greenhouse.zip/greenhouse/tomato_plant_240cm.dae</model_uri>
<model_roll>90.0</model_roll>
<model_offset_z>-0.05</model_offset_z>
</visual>
</block:class>
<!-- ======================================
Object instances
====================================== -->
<!-- You can assign an optional custom name to each object, as an attribute to block, like name="shelf_001", etc. -->
<!-- All coordinates are global coords:
SE(2) <init_pose>x y yaw(deg)</init_pose> or
SE(3) <init_pose3d>x y z yaw(deg) pitch(deg) roll(deg)</init_pose3d>
-->
<!-- H-beams along the X axis -->
<for var="iX" from="0" to="$f{NUM_TILTED_BEAMS_X-1}">
<block class="pole_tilted">
<init_pose>$f{3.95+2*iX} 1.35 180</init_pose>
</block>
<block class="pole_tilted">
<init_pose>$f{3.95+2*iX} $f{28.6-1.35} 0</init_pose>
</block>
</for>
<!-- H-beams along the Y axis -->
<for var="iY" from="0" to="$f{NUM_TILTED_BEAMS_Y-1}">
<block class="pole_tilted">
<init_pose>1.30 $f{3.9+2*iY} 90</init_pose>
</block>
<block class="pole_tilted">
<init_pose>$f{46-1.30} $f{3.9+2*iY} -90</init_pose>
</block>
</for>
<!-- Thick poles -->
<for var="iX" from="0" to="4">
<for var="iY" from="0" to="10">
<if condition="$f{if(iY<=3 or iY>=6, 1, 0)}">
<block class="pole_009">
<init_pose>$f{4+8*iX} $f{3.9+2*iY} 0</init_pose>
</block>
</if>
</for>
</for>
<!-- Thin poles -->
<for var="iX" from="0" to="4">
<for var="iY" from="0" to="10">
<if condition="$f{if(iY<=3 or iY>=6, 1, 0)}">
<block class="pole_004">
<init_pose>$f{4+4+8*iX} $f{3.9+2*iY} 0</init_pose>
</block>
</if>
</for>
</for>
<!-- Plants -->
<for var="iX" from="0" to="$f{NUM_CORRIDORS_X-1}">
<for var="iY" from="0" to="$f{NUM_PLANTS_CORRIDOR_SOUTH-1}">
<block class="plant_tomato">
<init_pose>$f{3.95+4*iX+rand()*PLANTS_RAND_XY} $f{3.0+iY*(9/NUM_PLANTS_CORRIDOR_SOUTH)+rand()*PLANTS_RAND_XY} $f{rand()*360}</init_pose>
</block>
<block class="plant_tomato">
<init_pose>$f{3.95+4*iX+3.0+rand()*PLANTS_RAND_XY} $f{3.0+iY*(9/NUM_PLANTS_CORRIDOR_SOUTH)+rand()*PLANTS_RAND_XY} $f{rand()*360}</init_pose>
</block>
</for>
<for var="iY" from="0" to="$f{NUM_PLANTS_CORRIDOR_NORTH-1}">
<block class="plant_tomato">
<init_pose>$f{3.95+4*iX+rand()*PLANTS_RAND_XY} $f{15.0+iY*(12/NUM_PLANTS_CORRIDOR_NORTH)+rand()*PLANTS_RAND_XY} $f{rand()*360}</init_pose>
</block>
<block class="plant_tomato">
<init_pose>$f{3.95+4*iX+3.0+rand()*PLANTS_RAND_XY} $f{15.0+iY*(12/NUM_PLANTS_CORRIDOR_NORTH)+rand()*PLANTS_RAND_XY} $f{rand()*360}</init_pose>
</block>
</for>
</for>
</mvsim_world>