demo_greenhouse.world.xml

<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>