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models/pool_model/model.config
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>Waves - Sea Surface</name>
<name>Pool with depth 1.5 m</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>A simple sea surface with waves</description>
<description>Pool with depth 1.5 m</description>
</model>
models/pool_model/model.sdf
View file @ 8edee966
......@@ -5,7 +5,7 @@
<link name="bottom">
<visual name="box">
<pose>0 0 -14 0 0 0</pose>
<pose>0 0 -11.55 0 0 0</pose>
<geometry>
<box>
<size>250 100 0.01</size>
......@@ -13,7 +13,7 @@
</geometry>
</visual>
<collision name="box">
<pose>0 0 -14 0 0 0</pose>
<pose>0 0 -11.55 0 0 0</pose>
<geometry>
<box>
<size>250 100 0.01</size>
......@@ -24,7 +24,7 @@
<link name="wall_1">
<visual name="box">
<pose>125 0 -7 0 0 0</pose>
<pose>125 0 -4.55 0 0 0</pose>
<geometry>
<box>
<size>0.01 100 15</size>
......@@ -32,7 +32,7 @@
</geometry>
</visual>
<collision name="box">
<pose>125 0 -7 0 0 0</pose>
<pose>125 0 -4.55 0 0 0</pose>
<geometry>
<box>
<size>0.01 100 15</size>
......@@ -43,7 +43,7 @@
<link name="wall_2">
<visual name="box">
<pose>-125 0 -7 0 0 0</pose>
<pose>-125 0 -4.55 0 0 0</pose>
<geometry>
<box>
<size>0.01 100 15</size>
......@@ -51,7 +51,7 @@
</geometry>
</visual>
<collision name="box">
<pose>-125 0 -7 0 0 0</pose>
<pose>-125 0 -4.55 0 0 0</pose>
<geometry>
<box>
<size>0.01 100 15</size>
......@@ -62,7 +62,7 @@
<link name="wall_3">
<visual name="box">
<pose>0 50 -7 0 0 0</pose>
<pose>0 50 -4.55 0 0 0</pose>
<geometry>
<box>
<size>250 0.01 15</size>
......@@ -70,7 +70,7 @@
</geometry>
</visual>
<collision name="box">
<pose>0 50 -7 0 0 0</pose>
<pose>0 50 -4.55 0 0 0</pose>
<geometry>
<box>
<size>250 0.01 15</size>
......@@ -81,7 +81,7 @@
<link name="wall_4">
<visual name="box">
<pose>0 -50 -7 0 0 0</pose>
<pose>0 -50 -4.55 0 0 0</pose>
<geometry>
<box>
<size>250 0.01 15</size>
......@@ -89,7 +89,7 @@
</geometry>
</visual>
<collision name="box">
<pose>0 -50 -7 0 0 0</pose>
<pose>0 -50 -4.55 0 0 0</pose>
<geometry>
<box>
<size>250 0.01 15</size>
......@@ -100,35 +100,112 @@
<link name="pool_link">
<visual name="pool_surface">
<pose>0 0 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<cast_shadows>true</cast_shadows>
<pose>0 0 -5 0 0 0</pose>
<geometry>
<box>
<size>250 100 10</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/waves.material</uri>
<name>UUVSimulator/StaticWater</name>
</script>
</material>
</visual>
</link>
<link name="blue">
<visual name="blue_vis">
<cast_shadows>true</cast_shadows>
<pose>22 4 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>file://media/models/sea_surface_1000m_x_1000m.dae</uri>
<scale>0.25 0.1 0.1</scale>
<uri>model://balloon_blue/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/waves.material</uri>
<name>UUVSimulator/SimpleWaves</name>
<uri>model://balloon_blue/materials/scripts</uri>
<uri>model://balloon_blue/materials/textures</uri>
<name>balloon_blue</name>
</script>
</material>
</visual>
<visual name="water_below">
<pose>0 0 0 1.5707 0 0</pose>
<cast_shadows>false</cast_shadows>
</link>
<link name="green">
<visual name="green_vis">
<cast_shadows>true</cast_shadows>
<pose>25 4 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>file://media/models/empty_pool.obj</uri>
<scale>0.01 0.01 0.01</scale>
<uri>model://balloon_green/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/water.material</uri>
<name>UUVSimulator/StaticWater</name>
<uri>model://balloon_green/materials/scripts</uri>
<uri>model://balloon_green/materials/textures</uri>
<name>balloon_green</name>
</script>
</material>
</visual>
</link>
<link name="yellow">
<visual name="yellow_vis">
<cast_shadows>true</cast_shadows>
<pose>5 3 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_yellow/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_yellow/materials/scripts</uri>
<uri>model://balloon_yellow/materials/textures</uri>
<name>balloon_yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_0">
<visual name="yellow_vis_0">
<cast_shadows>true</cast_shadows>
<pose>5 5 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_yellow/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_yellow/materials/scripts</uri>
<uri>model://balloon_yellow/materials/textures</uri>
<name>balloon_yellow</name>
</script>
</material>
</visual>
</link>
<link name="red">
<visual name="red_vis">
<cast_shadows>true</cast_shadows>
<pose>17 -10 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_red/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_red/materials/scripts</uri>
<uri>model://balloon_red/materials/textures</uri>
<name>balloon_red</name>
</script>
</material>
</visual>
......
models/pool_model_4m/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>Pool with depth 4 m</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>A pool with depth 4 m</description>
</model>
models/pool_model_4m/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="pool_model_4m">
<static>true</static>
<link name="bottom">
<visual name="box">
<pose>0 0 -4.0 0 0 0</pose>
<geometry>
<box>
<size>25.0 10.0 0.001</size>
</box>
</geometry>
<material>
<ambient>0 0.7 1 1</ambient>
<diffuse>0 0.7 1 1</diffuse>
<specular>0 0.7 1 1</specular>
<emissive>0 0.07 0.1 1</emissive>
</material>
</visual>
<collision name="box">
<pose>0 0 -4.0 0 0 0</pose>
<geometry>
<box>
<size>25.0 10.0 0.001</size>
</box>
</geometry>
</collision>
</link>
<link name="blue">
<visual name="blue_vis">
<cast_shadows>true</cast_shadows>
<pose>0 0 -2 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_blue/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
</link>
<link name="red_circle">
<visual name="cylinder">
<pose>0 0 -4.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="cylinder">
<pose>2.0 -2.5 -4.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>0.0001</length>
</cylinder>
</geometry>
</collision>
</link>
<link name="wall_1">
<visual name="box">
<pose>12.5 0 -1.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 6.0</size>
</box>
</geometry>
<material>
<ambient>0 0.7 1 1</ambient>
<diffuse>0 0.7 1 1</diffuse>
<specular>0 0.7 1 1</specular>
<emissive>0 0.07 0.1 1</emissive>
</material>
</visual>
<collision name="box">
<pose>12.5 0 -2.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 6.0</size>
</box>
</geometry>
</collision>
</link>
<link name="wall_2">
<visual name="box">
<pose>-12.5 0 -1.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 6.0</size>
</box>
</geometry>
<material>
<ambient>0 0.7 1 1</ambient>
<diffuse>0 0.7 1 1</diffuse>
<specular>0 0.7 1 1</specular>
<emissive>0 0.07 0.1 1</emissive>
</material>
</visual>
<collision name="box">
<pose>-12.5 0 -2.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 6.0</size>
</box>
</geometry>
</collision>
</link>
<link name="wall_3">
<visual name="box">
<pose>0 5.0 -1.0 0 0 0</pose>
<geometry>
<box>
<size>25.0 0.001 6.0</size>
</box>
</geometry>
<material>
<ambient>0 0.7 1 1</ambient>
<diffuse>0 0.7 1 1</diffuse>
<specular>0 0.7 1 1</specular>
<emissive>0 0.07 0.1 1</emissive>
</material>
</visual>
<collision name="box">
<pose>0 5.0 -2.0 0 0</pose>
<geometry>
<box>
<size>25.0 0.001 6.0</size>
</box>
</geometry>
</collision>
</link>
<link name="wall_4">
<visual name="box">
<pose>0 -5.0 -1.0 0 0 0</pose>
<geometry>
<box>
<size>25.0 0.001 6.0</size>
</box>
</geometry>
<material>
<ambient>0 0.7 1 1</ambient>
<diffuse>0 0.7 1 1</diffuse>
<specular>0 0.7 1 1</specular>
<emissive>0 0.07 0.1 1</emissive>
</material>
</visual>
<collision name="box">
<pose>0 -5.0 -2.0 0 0 0</pose>
<geometry>
<box>
<size>25.0 0.001 6.0</size>
</box>
</geometry>
</collision>
</link>
<link name="pool_link">
<visual name="pool_surface">
<cast_shadows>true</cast_shadows>
<pose>0 0 -0.05 0 0 0</pose>
<geometry>
<box>
<size>24.99 9.99 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/waves.material</uri>
<name>UUVSimulator/StaticWater</name>
</script>
<rendering_order>1</rendering_order>
</material>
</visual>
</link>
<link name="blue1">
<visual name="blue1_vis">
<cast_shadows>true</cast_shadows>
<pose>0 0 -10 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_blue/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_blue/materials/scripts</uri>
<uri>model://balloon_blue/materials/textures</uri>
<name>balloon_blue</name>
</script>
</material>
</visual>
</link>
<link name="green">
<visual name="green_vis">
<cast_shadows>true</cast_shadows>
<pose>0 0 -6 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_green/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_green/materials/scripts</uri>
<uri>model://balloon_green/materials/textures</uri>
<name>balloon_green</name>
</script>
</material>
</visual>
</link>
<link name="yellow">
<visual name="yellow_vis">
<cast_shadows>true</cast_shadows>
<pose>0 0 -7 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_yellow/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_yellow/materials/scripts</uri>
<uri>model://balloon_yellow/materials/textures</uri>
<name>balloon_yellow</name>
</script>
</material>
</visual>
</link>
<link name="red">
<visual name="red_vis">
<cast_shadows>true</cast_shadows>
<pose>0 0 -8 0 0 0</pose>
<geometry>
<mesh>
<uri>model://balloon_red/meshes/balloon.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://balloon_red/materials/scripts</uri>
<uri>model://balloon_red/materials/textures</uri>
<name>balloon_red</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
models/pspb_2025/environment/example/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb_example</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/environment/example/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pspb_2025_purple">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="purple_garage_link">
<visual name="purple_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>purple</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>22 6.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>22 6.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>20 4.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>20 4.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="red_link">
<visual name="red_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>purple</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<!-- <link name="purple_link">
<visual name="purple_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>0 1 1 1</ambient>
<diffuse>0 1 1 1</diffuse>
<specular>0 1 1 1</specular>
<emissive>0 0.2 0.2 1</emissive>
</material>
</visual>
</link> -->
</model>
</sdf>
models/pspb_2025/environment/green_square/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb_green_square</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/environment/green_square/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pspb_2025_green">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="red_garage_link">
<visual name="red_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="green_link">
<visual name="green_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<!-- <link name="green_link">
<visual name="green_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
<emissive>0 0.2 0 1</emissive>
</material>
</visual>
</link> -->
</model>
</sdf>
models/pspb_2025/environment/red_triangle/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb_red_triangle</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/environment/red_triangle/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pspb_2025_red">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="red_garage_link">
<visual name="red_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="red_link">
<visual name="red_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<!-- <link name="red_link">
<visual name="red_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
</link> -->
</model>
</sdf>
models/pspb_2025/environment/test/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb_test</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/environment/test/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pspb_2025_test">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="red_garage_link">
<visual name="red_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="purple_garage_link">
<visual name="purple_garage_visual">
<pose> 24 9 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>purple</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>22 6.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>22 6.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>20 4.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>20 4.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="red_link">
<visual name="red_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="yellow_link">
<visual name="yellow_visual">
<pose> 15 6 -1.35 0 0 2.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="green_link">
<visual name="green_visual">
<pose> 15.2 6.2 -1.35 0 0 -1.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="purple_link">
<visual name="purple_visual">
<pose> 14.8 6.2 -1.35 0 0 -3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>purple</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<!-- <link name="purple_link">
<visual name="purple_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>0 1 1 1</ambient>
<diffuse>0 1 1 1</diffuse>
<specular>0 1 1 1</specular>
<emissive>0 0.2 0.2 1</emissive>
</material>
</visual>
</link> -->
</model>
</sdf>
models/pspb_2025/environment/yellow_circle/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb_yellow_circle</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/environment/yellow_circle/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pspb_2025_yellow">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="red_garage_link">
<visual name="red_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="yellow_link">
<visual name="yellow_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<!-- <link name="yellow_link">
<visual name="yellow_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
</link> -->
</model>
</sdf>
models/pspb_2025/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool_pspb</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport pool enviroment for pspb_2025 USV</description>
</model>
models/pspb_2025/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="smtu_sport_pspb">
<static>true</static>
<link name="green_garage_link">
<visual name="green_gate_visual">
<pose> 22 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>green</name>
</script>
</material>
</visual>
</link>
<link name="red_garage_link">
<visual name="red_garage_visual">
<pose> 24 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>red</name>
</script>
</material>
</visual>
</link>
<link name="yellow_garage_link">
<visual name="yellow_garage_visual">
<pose> 20 1 0 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<link name="yellow_buoy">
<visual name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>19 7.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="red_buoy">
<visual name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
<emissive>0.2 0 0 1</emissive>
</material>
</visual>
<collision name="sphere">
<pose>18.5 5.5 0.1 0 0 0</pose>
<geometry>
<sphere>
<radius>0.23</radius>
</sphere>
</geometry>
</collision>
</link>
<!-- figure -->
<link name="yellow_link">
<visual name="yellow_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/gates/materials/scripts</uri>
<uri>model://pspb_2025/models/gates/materials/textures</uri>
<name>yellow</name>
</script>
</material>
</visual>
</link>
<!-- test only -->
<link name="yellow_link">
<visual name="yellow_visual">
<pose> 15 6.5 -1.35 0 0 3.1415</pose>
<geometry>
<mesh>
<uri>model://pspb_2025/models/gates/meshes/figure.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
<emissive>0.2 0.2 0 1</emissive>
</material>
</visual>
</link>
</model>
</sdf>
models/pspb_2025/models/gates/example_model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="green_gate">
<static>true</static>
<link name="green_gate_link">
<visual name="green_gate_visual">
<geometry>
<mesh>
<uri>model://pspb_2025/models/green_gate/meshes/green_gate.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://pspb_2025/models/green_gate/materials/scripts</uri>
<uri>model://pspb_2025/models/green_gate/materials/textures</uri>
<name>green_gate</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
models/pspb_2025/models/gates/materials/scripts/gate.material 0 → 100644
View file @ 8edee966
material green
{
technique
{
pass
{
scene_blend alpha_blend
depth_write on
texture_unit
{
texture green_square.png
}
}
}
}
material yellow
{
technique
{
pass
{
scene_blend alpha_blend
depth_write on
texture_unit
{
texture yellow_circle.png
}
}
}
}
material red
{
technique
{
pass
{
scene_blend alpha_blend
depth_write on
texture_unit
{
texture red_triangle.png
}
}
}
}
material purple
{
technique
{
pass
{
scene_blend alpha_blend
depth_write on
texture_unit
{
texture purple_star.png
}
}
}
}
\ No newline at end of file