default world changed, added optional intralogistics_people world

rayvburn · Jul 14, 2021 · 3d369bc · 3d369bc
1 parent 79f90b5
commit 3d369bc
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Showing 3 changed files with 690 additions and 64 deletions.
diff --git a/tiago_webots_ros2_driver/worlds/.intralogistics_people.wbproj b/tiago_webots_ros2_driver/worlds/.intralogistics_people.wbproj
@@ -0,0 +1,11 @@
+Webots Project File version R2021a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000011c00000356fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003560000003c00ffffff00000003000009bd00000140fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000006f70000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000009bd0000005400ffffff000009bd000003f700000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff0000000100000002000001180000051f0100000006010000000100
+sceneTreePerspectives: 000000ff000000010000000200000287000000fc0100000006010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+globalOptionalRendering: LidarPointClouds
+consoles: Console:All:All
+renderingDevicePerspectives: TIAGo Iron:camera 2D;1;1;0;0
diff --git a/tiago_webots_ros2_driver/worlds/intralogistics.wbt b/tiago_webots_ros2_driver/worlds/intralogistics.wbt
@@ -1,5 +1,6 @@
-#VRML_SIM R2020a utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
+  coordinateSystem "NUE"
 }
 Viewpoint {
   orientation 0.03278108984651394 0.8544673753296006 0.5184697721620986 3.07491932248144
@@ -97,42 +98,13 @@ Floor {
     metalness 0
   }
 }
-Wrench {
-  translation -1.86779 0.74 1.85792
-  name "wrench(1)"
-}
-Wrench {
-  translation -2.7028 0.74 1.73802
-  rotation 0 -1 0 -0.05235530717958614
-}
-Hammer {
-  translation -1.7289 0.754 1.21584
-  rotation 0 1 0 2.6179939
-  name "hammer(1)"
-}
-Hammer {
-  translation -1.99614 0.754 1.16936
-  rotation 0 -1 0 5.4977871
-}
 WoodenPallet {
   translation -3.05 0.52 12.1
   rotation 1 0 0 5.2359877
 }
-Table {
-  translation -2.10883 0 1.49029
-  size 4.5 0.74 1.5
-}
 CardboardBox {
   translation 2.2324987 0.31 11.807743
 }
-PaintBucket {
-  translation -2.30859 0.74 1.16696
-  rotation 0 1 0 5.7595865
-}
-Screwdriver {
-  translation -2.46869 0.752 1.55078
-  rotation 0 1 0 0.52359877
-}
 WoodenPalletStack {
   translation -9.21249 0 4.0543
   rotation 0 1 0 1.5707963
@@ -154,29 +126,83 @@ WoodenBox {
   name "wooden box(2)"
 }
 WoodenBox {
-  translation 6.27112 0.3 6.72987
+  translation 5.93174 0.3 6.39049
   rotation 0 1 0 0.78539816
   name "wooden box(3)"
   size 0.3 0.3 0.3
 }
 WoodenBox {
-  translation 6.27112 1.69 7.70987
+  translation 5.22112 0.19 7.70987
   rotation 0 1 0 1.5708
   name "wooden box(15)"
   size 0.3 0.3 0.3
 }
 WoodenBox {
-  translation 6.64112 1.69 7.70987
+  translation 5.96112 1.69 7.70987
   rotation 0 1 0 1.5708
   name "wooden box(16)"
   size 0.3 0.3 0.3
 }
 WoodenBox {
-  translation 5.87112 1.69 7.70987
+  translation 5.87112 0.18 7.70987
   rotation 0 1 0 1.5708
   name "wooden box(17)"
   size 0.3 0.3 0.3
 }
+WoodenBox {
+  translation 4.75112 0.18 7.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(28)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 4.29112 0.18 7.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(29)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 3.78112 0.18 7.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(30)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 3.30112 0.18 7.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(31)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 3.30112 0.18 3.65987
+  rotation 0 1 0 1.5708
+  name "wooden box(32)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 3.73112 0.18 3.65987
+  rotation 0 1 0 1.5708
+  name "wooden box(33)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 4.21112 0.18 3.65987
+  rotation 0 1 0 1.5708
+  name "wooden box(34)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 4.62112 0.18 3.65987
+  rotation 0 1 0 1.5708
+  name "wooden box(35)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 5.13112 0.18 3.65987
+  rotation 0 1 0 1.5708
+  name "wooden box(36)"
+  size 0.3 0.3 0.3
+}
 WoodenBox {
   translation 5.87112 1.69 3.71987
   rotation 0 1 0 1.5708
@@ -195,18 +221,42 @@ WoodenBox {
   name "wooden box(20)"
   size 0.3 0.3 0.3
 }
+WoodenBox {
+  translation -4.25888 1.69 3.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(23)"
+  size 0.3 0.3 0.3
+}
 WoodenBox {
   translation -3.74888 1.69 -0.300125
   rotation 0 1 0 1.5708
   name "wooden box(21)"
   size 0.3 0.3 0.3
 }
 WoodenBox {
-  translation -3.11015 0.3 -1.52142
+  translation -3.74888 1.69 3.70987
+  rotation 0 1 0 1.5708
+  name "wooden box(22)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation -4.14015 0.3 -0.97142
   rotation 0 1 0 1.5708
   name "wooden box(14)"
   size 0.3 0.3 0.3
 }
+WoodenBox {
+  translation -3.69015 0.3 6.67858
+  rotation 0 1 0 1.5708
+  name "wooden box(25)"
+  size 0.3 0.3 0.3
+}
+WoodenBox {
+  translation 4.83985 0.3 2.50858
+  rotation 0 1 0 1.5708
+  name "wooden box(27)"
+  size 0.3 0.3 0.3
+}
 WoodenBox {
   translation 1.5463886 0.3 11.768592
   name "wooden box(4)"
@@ -220,9 +270,17 @@ WoodenBox {
   name "wooden box(12)"
 }
 WoodenBox {
-  translation -4.37 0.3 -1.5
+  translation -3.18 0.3 -0.96
   name "wooden box(13)"
 }
+WoodenBox {
+  translation -4.73 0.3 7.07
+  name "wooden box(24)"
+}
+WoodenBox {
+  translation 6.2 0.3 2.48
+  name "wooden box(26)"
+}
 WoodenBox {
   translation 3.51874 0.3 11.6763
   rotation 0 1 0 4.9741884
@@ -275,7 +333,7 @@ Cabinet {
   ]
 }
 Cabinet {
-  translation 5 0 8
+  translation 5.5 0 8
   rotation 0 1 0 3.14159
   name "cabinet(2)"
   rowsHeights [
@@ -292,7 +350,7 @@ Cabinet {
   ]
 }
 Cabinet {
-  translation 5 0 4
+  translation 5.5 0 4
   rotation 0 1 0 3.14159
   name "cabinet(4)"
   rowsHeights [
@@ -309,7 +367,7 @@ Cabinet {
   ]
 }
 Cabinet {
-  translation 5 0 0
+  translation 5.5 0 0
   rotation 0 1 0 3.14159
   name "cabinet(6)"
   rowsHeights [
@@ -407,17 +465,6 @@ Wall {
     }
   }
 }
-Wall {
-  translation -6.69993 -1.0214e-12 1.1
-  rotation 9.58979e-09 -1 9.58928e-09 -1.570845307179586
-  name "wall(10)"
-  size 10 7 0.2
-  appearance Roughcast {
-    textureTransform TextureTransform {
-      scale 4.125 1.725
-    }
-  }
-}
 Wall {
   translation -6.6998 1.24109e-07 11.1
   rotation 0 -1 0 -1.570845307179586
@@ -492,27 +539,49 @@ Solid {
   name "solid(3)"
 }
 Pedestrian {
-  translation -5.3 1.26 3.6
-  rotation 0 1 0 3.14159
-  name "ANTONIO"
-  controllerArgs "--trajectory=-5.3 3.6, -5.3 -2 --speed=0.1"
-  shirtColor 0.929412 0.831373 0
-  pantsColor 0 0 0
-  shoesColor 0.933333 0.933333 0.92549
-}
-Pedestrian {
-  translation 6.6933 1.27 7.06678
+  translation 6.19838 1.27 6.91124
   rotation 0 1 0 -2.3561953071795863
   name "THOMAS"
 }
 Pedestrian {
-  translation -3.49257 1.27 -1.53915
-  rotation 0 1 0 1.5708
+  translation -3.64257 1.27 -0.97915
+  rotation 0 1 0 -1.5707953071795862
   name "MARTHA"
   shirtColor 0.937255 0.160784 0.160784
 }
+Pedestrian {
+  translation -4.06257 1.27 6.98085
+  rotation 0 1 0 2.0944
+  name "REBECA"
+  shirtColor 0.360784 0.207843 0.4
+  pantsColor 0.678431 0.498039 0.658824
+}
+Pedestrian {
+  translation 5.4 1.27 3
+  rotation 0 1 0 4
+  name "JUAN"
+  shirtColor 0.756863 0.490196 0.0666667
+}
+Pedestrian {
+  translation 6.94743 1.27 1.56085
+  rotation 0 1 0 3.14159
+  name "TALK2"
+  shirtColor 0 0 0
+}
+Pedestrian {
+  translation 6.09743 1.27 0.94085
+  rotation 0 -1 0 -1.5707953071795862
+  name "TALK3"
+  shirtColor 0 0 0
+}
+Pedestrian {
+  translation 6.96743 1.27 0.39085
+  rotation 0 1 0 7.73713e-07
+  name "TALK1"
+  shirtColor 0 0 0
+}
 Charger {
-  translation -9.33 0 11.82
+  translation -9.33 0 2.17
   children [
     Transform {
       translation 0 0.15 0
@@ -543,4 +612,4 @@ Charger {
     100, 100, 1
   ]
   radius 0.3
-}
+}