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git commit -m "first commit"

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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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simulators/sim_env/worlds/pictures/turtlebot3_house.jpg Executable file
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simulators/sim_env/worlds/pictures/workshop.jpg Executable file
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simulators/sim_env/worlds/turtlebot3_house.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- A turtlebot symbol -->
<include>
<uri>model://turtlebot3_house</uri>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

53
simulators/sim_env/worlds/turtlebot3_stage_1.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load world -->
<include>
<uri>model://turtlebot3_square</uri>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

203
simulators/sim_env/worlds/turtlebot3_stage_2.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load model -->
<include>
<uri>model://turtlebot3_square</uri>
</include>
<model name='obstacle'>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='obstacle'>
<collision name='obstacle_1'>
<pose>-0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_1'>
<pose>-0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_2'>
<pose>-0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_2'>
<pose>-0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_3'>
<pose>0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_3'>
<pose>0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_4'>
<pose>0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_4'>
<pose>0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<static>1</static>
</model>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

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simulators/sim_env/worlds/turtlebot3_stage_3.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load model -->
<include>
<uri>model://turtlebot3_square</uri>
</include>
<model name='obstacle'>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='obstacle'>
<collision name='obstacle_1'>
<pose>-0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_1'>
<pose>-0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_2'>
<pose>-0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_2'>
<pose>-0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_3'>
<pose>0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_3'>
<pose>0.6 -0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<collision name='obstacle_4'>
<pose>0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='obstacle_4'>
<pose>0.6 0.6 0.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
</model>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

101
simulators/sim_env/worlds/turtlebot3_stage_4.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load model -->
<include>
<uri>model://turtlebot3_plaza</uri>
</include>
<model name="obstacle_1">
<pose>2 2 0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.25</length>
</cylinder>
</geometry>
</visual>
</link>
</model>
<model name="obstacle_2">
<pose>-2 -2 0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.25</length>
</cylinder>
</geometry>
</visual>
</link>
<plugin name="obstacle_2" filename="libobstacle_2.so"/>
</model>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

53
simulators/sim_env/worlds/turtlebot3_world.world Executable file
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<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Load world -->
<include>
<uri>model://turtlebot3_world</uri>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.8 0.0 12.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>

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simulators/sim_env/worlds/warehouse.world Executable file
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simulators/sim_env/worlds/warehouse_with_obstacles.world Executable file
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simulators/sim_env/worlds/warehouse_with_obstacles_with_pedestrians.world Executable file
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simulators/sim_env/worlds/warehouse_with_pedestrians.world Executable file
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