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Populating with new object models (Field-Robotics-Lab#242)
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* sprinkling new models around, ported to fuel db

Signed-off-by: Dharini Dutia <[email protected]>

* using fuel links only and corrected lionfish pose

Signed-off-by: quarkytale <[email protected]>

* static models and more ocean creatures

Signed-off-by: quarkytale <[email protected]>

* Do not let models fall to the ground on startup. Better position models and update teleport script

Signed-off-by: Yadunund <[email protected]>

Co-authored-by: Yadunund <[email protected]>
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@quarkytale @Yadunund
quarkytale and Yadunund authored Mar 25, 2022
1 parent 9d3dbb8 commit 72aeeeb
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10 changes: 6 additions & 4 deletions examples/dave_demo_launch/launch/dave_integrated_demo.launch
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<!-- rexrov robot with oberon7 arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov0"/>
<arg name="x" value="-21.0"/>
<arg name="y" value="-34.0"/>
<arg name="z" value="-108.0"/>
<arg name="yaw" value="2.5"/>
<arg name="x" value="7.087382"/>
<arg name="y" value="-8.720616"/>
<arg name="z" value="-116.360490"/>
<arg name="roll" value="0.011443"/>
<arg name="pitch" value="0.060502"/>
<arg name="yaw" value="0.304482"/>
</include>

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
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16 changes: 8 additions & 8 deletions examples/dave_nodes/config/integrated_world_places.yaml
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# Config for teleport script
places:
home: {
'robot_pose': [-21,-34,-108,0,0,2.5],
'camera_pose': [-21,-34,-108,0,0,2.5]
'robot_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482],
'camera_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482]
}
electrical: {
'robot_pose': [-187,117,-154,0,0,3.14],
'camera_pose': [-187,117,-154,0,0,3.14]
artillery: {
'robot_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642],
'camera_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642]
}
mud: {
'robot_pose': [-140,-190,-145,0,0,0],
'camera_pose': [-140,-190,-145,0,0,0]
}
'robot_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439],
'camera_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439]
}
200 changes: 178 additions & 22 deletions models/dave_worlds/worlds/dave_integrated.world
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<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>14.0 -26.0 -110.0 0.0 0.25 0.53</pose>
<pose frame=''>-35 -106.0 -84.0 0.0 0.226 1.206</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>

<include>
<uri>model://mud_anchor</uri>
<name>mud_anchor</name>
<pose>-78.2 -181 -130 -0.22 0.13 0.0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri>
<pose>-68.759591 -208.309946 -147.679795 -0.072901 -1.166020 1.635320</pose>
</include>

<!-- Mud pit -->
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</model>


<!-- Models in the world -->
<!-- Other models in the world -->
<!-- Monitoring equipment -->
<include>
<name>sunken_ship_1</name>
<pose>82 -150 -150 0 0 0</pose>
<name>mbari_mars</name>
<pose>14.455148 -7.161097 -118.670557 -0.036799 0.065912 0.178707</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
<static>true</static>
</include>

<include>
<name>flight_data_recorder</name>
<pose>9.044796 -6.663643 -118.380028 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
<static>false</static>
</include>

<include>
<name>niskin</name>
<pose>9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://niskin</uri>
<static>true</static>
</include>

<!-- Ocean creatures -->
<include>
<name>Lionfish1</name>
<pose>13 -11 -118 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
<static>true</static>
</include>

<include>
<name>Coral1</name>
<pose>13 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
<static>true</static>
</include>

<include>
<name>Kelp1</name>
<pose>13 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
<static>true</static>
</include>

<include>
<name>Kelp2</name>
<pose>12 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
<static>true</static>
</include>

<!-- Sunken ships and objects-->
<include>
<name>sunken_ship</name>
<pose>-75 -200 -147 0.25 0 0.65</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
<static>true</static>
</include>

<include>
<name>sunken_ship_distorted</name>
<pose>17 -200 -150 0 0 0</pose>
<uri>model://sunken_ship_distorted</uri>
<static>true</static>
</include>

<include>
<name>sunken_vase</name>
<pose>-70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
</include>

<include>
<name>sunken_vase_distorted</name>
<pose>-72 -208.695 -148.1 -0.757396 0.467511 -0.402810</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://sunken_vase_distorted</uri>
<static>true</static>
</include>

<include>
<name>sunken_vase2</name>
<pose>-72 -208 -148 -0.932434 -0.195466 0.528508</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
<static>true</static>
</include>

<include>
<name>Lionfish2</name>
<pose>-72 -209 -147 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
<static>true</static>
</include>

<include>
<name>Coral2</name>
<pose>-70 -208 -147.9 0.15 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02</uri>
<static>true</static>
</include>

<include>
<name>Kelp3</name>
<pose>-70 -208 -148 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03</uri>
<static>true</static>
</include>

<include>
<name>Kelp4</name>
<pose>-70 -209 -148 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04</uri>
<static>true</static>
</include>

<!-- Ocean rocks -->
<include>
<name>Rock3</name>
<pose>26 182 -139 -1.55 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03</uri>
<static>true</static>
</include>

<!-- Hardhats -->
<include>
<name>hardhat_standard</name>
<pose>-185 115 -158.224 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
<static>true</static>
</include>

<!-- <include>
<include>
<name>hardhat_ribbed</name>
<pose>-185 116 -158.238 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
<static>true</static>
</include>

<include>
<name>hardhat_superribbed</name>
<pose>-184 115 -158.199 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
<static>true</static>
</include>

<include>
<name>hardhat_octagonal</name>
<pose>-185.4 96 -158.106 1.13 -0105 0.245</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
<static>true</static>
</include>

<!-- Military equipment -->
<include>
<name>torpedo_mk46</name>
<pose>27 -16 -115 0 0 0</pose>
<uri>model://torpedo_mk46</uri>
<pose>-158 100 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
<static>true</static>
</include>

<include>
<name>sonobuoy</name>
<pose>23 -14 -115 0 0 0</pose>
<uri>model://sonobuoy</uri>
<name>torpedo_mk48</name>
<pose>-158 105 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
<static>true</static>
</include>

<include>
<name>flight_data_recorder</name>
<pose>26 -17 -115 0 0 0</pose>
<uri>model://flight_data_recorder</uri>
<name>sonobuoy</name>
<pose>-158 104 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
<static>true</static>
</include>

<include>
<name>uxo_a</name>
<pose>24 -15 -115 0 0 0</pose>
<uri>model://uxo_a</uri>
<pose>-140 103 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
<static>true</static>
</include>

<include>
<name>uxo_b</name>
<pose>26 -18 -115 0 0 0</pose>
<uri>model://uxo_b</uri>
<pose>-140 102 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
<static>true</static>
</include>

<include>
<name>uxo_c</name>
<pose>27 -17 -117 0 0 0</pose>
<uri>model://uxo_c</uri>
</include> -->
<pose>-140 101 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
<static>true</static>
</include>

</world>
</sdf>
26 changes: 13 additions & 13 deletions models/dave_worlds/worlds/dave_ocean_models.world
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Expand Up @@ -132,76 +132,76 @@
</gui>

<!-- Add some models as examples -->
<include>
<include>
<name>torpedo_mk46</name>
<pose>13 -1 -94 0 0 0</pose>
<uri>model://torpedo_mk46</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
</include>

<include>
<name>torpedo_mk48</name>
<pose>13 -1.5 -94 0 0 0</pose>
<uri>model://torpedo_mk48</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
</include>

<include>
<name>sonobuoy</name>
<pose>13 -2 -94 0 0 0</pose>
<uri>model://sonobuoy</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
</include>

<include>
<name>flight_data_recorder</name>
<pose>13 -3 -94 0 0 0</pose>
<uri>model://flight_data_recorder</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
</include>

<include>
<name>uxo_a</name>
<pose>13 -4 -94 0 0 0</pose>
<uri>model://uxo_a</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
</include>

<include>
<name>uxo_b</name>
<pose>13 -5 -94 0 0 0</pose>
<uri>model://uxo_b</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
</include>

<include>
<name>uxo_c</name>
<pose>13 -6 -94 0 0 0</pose>
<uri>model://uxo_c</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
</include>

<include>
<name>hardhat_standard</name>
<pose>13 0 -94 0 0 0</pose>
<uri>model://hardhat_standard</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
</include>

<include>
<name>hardhat_ribbed</name>
<pose>13 1 -94 0 0 0</pose>
<uri>model://hardhat_ribbed</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
</include>

<include>
<name>hardhat_superribbed</name>
<pose>13 2 -94 0 0 0</pose>
<uri>model://hardhat_superribbed</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
</include>

<include>
<name>hardhat_octagonal</name>
<pose>13 3 -94 0 0 0</pose>
<uri>model://hardhat_octagonal</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
</include>

<include>
<name>mbari_mars</name>
<pose>13 6 -94 0 0 0</pose>
<uri>model://mbari_mars</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
</include>

<include>
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