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HiepLM
2026-05-28 10:29:58 +07:00
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244
simulators/aws-robomaker-small-warehouse-world_h/worlds/no_roof_small_warehouse.world Executable file
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<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.6">
<world name="default">
<gravity>0 0 -9.8</gravity>
<physics default="0" name="default_physics" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<!--model name="aws_robomaker_warehouse_RoofB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_RoofB_01</uri>
</include>
<pose frame="">0.0 0.0 0 0 0 0</pose>
</model-->
<model name="aws_robomaker_warehouse_ShelfF_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
</include>
<pose frame="">-5.795143 -0.956635 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_WallB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_WallB_01</uri>
</include>
<pose frame="">0.0 0.0 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 0.57943 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_002">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 -4.827049 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_003">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 -8.6651 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -1.242668 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_002">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -3.038551 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_003">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -6.750542 0 0 0 0</pose>
</model>
<!--model name="aws_robomaker_warehouse_DeskC_01_001">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 6.135864 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_DeskC_01_002">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 3.039 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_DeskC_01_003">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 -6.6493 0 0 0 0</pose>
</model-->
<model name="aws_robomaker_warehouse_GroundB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_GroundB_01</uri>
</include>
<pose frame="">0.0 0.0 -0.090092 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_Lamp_01_005">
<include>
<uri>model://aws_robomaker_warehouse_Lamp_01</uri>
</include>
<pose frame="">0 0 -4 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_020">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">0.433449 9.631706 0 0 0 -1.563161</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_021">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">-1.8321 -6.3752 0 0 0 -1.563161</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_022">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">0.433449 8.59 0 0 0 -1.563161</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_016'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>5.708138 8.616844 -0.017477 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_017'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>3.408638 8.616844 -0.017477 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_018'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_027">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">3.324959 3.822449 -0.012064 0 0 1.563871</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_028">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_029">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">5.384239 6.137154 0 0 0 3.150000</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_030">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">3.236 6.137154 0 0 0 3.150000</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_031">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_032">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">-1.2196 9.407 -0.015663 0 0 1.563871</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringD_01_005'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
</include>
<pose frame=''>-1.634682 -7.811813 -0.319559 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_TrashCanC_01_002'>
<include>
<uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
</include>
<pose frame=''>-1.592441 7.715420 0 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_PalletJackB_01_001'>
<include>
<uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
</include>
<pose frame=''>-0.276098 -9.481944 0.023266 0 0 0</pose>
</model>
<light name="Warehouse_CeilingLight_003" type="point">
<pose frame="">0 0 9 0 0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>80</range>
<constant>0.3</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>1</cast_shadows>
<direction>0.1 0.1 -1</direction>
</light>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>

237
simulators/aws-robomaker-small-warehouse-world_h/worlds/small_warehouse.world Executable file
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@@ -0,0 +1,237 @@
<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.6">
<world name="default">
<gravity>0 0 -9.8</gravity>
<physics default="0" name="default_physics" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<model name="aws_robomaker_warehouse_RoofB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_RoofB_01</uri>
</include>
<pose frame="">0.0 0.0 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfF_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
</include>
<pose frame="">-5.795143 -0.956635 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_WallB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_WallB_01</uri>
</include>
<pose frame="">0.0 0.0 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 0.57943 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_002">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 -4.827049 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfE_01_003">
<include>
<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
</include>
<pose frame="">4.73156 -8.6651 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_001">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -1.242668 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_002">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -3.038551 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_ShelfD_01_003">
<include>
<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
</include>
<pose frame="">4.73156 -6.750542 0 0 0 0</pose>
</model>
<!--model name="aws_robomaker_warehouse_DeskC_01_001">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 6.135864 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_DeskC_01_002">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 3.039 0 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_DeskC_01_003">
<include>
<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
</include>
<pose frame="">-0.061684 -6.6493 0 0 0 0</pose>
</model-->
<model name="aws_robomaker_warehouse_GroundB_01_001">
<include>
<uri>model://aws_robomaker_warehouse_GroundB_01</uri>
</include>
<pose frame="">0.0 0.0 -0.090092 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_Lamp_01_005">
<include>
<uri>model://aws_robomaker_warehouse_Lamp_01</uri>
</include>
<pose frame="">0 0 -4 0 0 0</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_020">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">0.433449 9.631706 0 0 0 -1.563161</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_021">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">-1.8321 -6.3752 0 0 0 -1.563161</pose>
</model>
<model name="aws_robomaker_warehouse_Bucket_01_022">
<include>
<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
</include>
<pose frame="">0.433449 8.59 0 0 0 -1.563161</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_016'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>5.708138 8.616844 -0.017477 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_017'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>3.408638 8.616844 -0.017477 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringA_01_018'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
</include>
<pose frame=''>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_027">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">3.324959 3.822449 -0.012064 0 0 1.563871</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_028">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_029">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">5.384239 6.137154 0 0 0 3.150000</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_030">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">3.236 6.137154 0 0 0 3.150000</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_031">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
</model>
<model name="aws_robomaker_warehouse_ClutteringC_01_032">
<include>
<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
</include>
<pose frame="">-1.2196 9.407 -0.015663 0 0 1.563871</pose>
</model>
<model name='aws_robomaker_warehouse_ClutteringD_01_005'>
<include>
<uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
</include>
<pose frame=''>-1.634682 -7.811813 -0.319559 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_TrashCanC_01_002'>
<include>
<uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
</include>
<pose frame=''>-1.592441 7.715420 0 0 0 0</pose>
</model>
<model name='aws_robomaker_warehouse_PalletJackB_01_001'>
<include>
<uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
</include>
<pose frame=''>-0.276098 -9.481944 0.023266 0 0 0</pose>
</model>
<light name="Warehouse_CeilingLight_003" type="point">
<pose frame="">0 0 9 0 0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>80</range>
<constant>0.3</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>1</cast_shadows>
<direction>0.1 0.1 -1</direction>
</light>
</world>
</sdf>