From 9cb43a8a47db430c7ca1e3ebfaff5699a60ba53b Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Fri, 17 Jul 2026 12:27:36 +0200 Subject: [PATCH 1/5] Clean couple of scenes in urdf --- CustomRobots/CMakeLists.txt | 2 +- {Scenes => Universes}/3DReconstruction.glb | Bin {Scenes => Universes}/APSimpleInLine.glb | Bin {Scenes => Universes}/AmazonWarehouse.glb | Bin {Scenes => Universes}/CityLarge.glb | Bin {Scenes => Universes}/FollowRoad.glb | Bin {Scenes => Universes}/Hospital.glb | Bin {Scenes => Universes}/LakeHouse.glb | Bin .../LaserMappingWarehouse.glb | Bin {Scenes => Universes}/Montmelo.glb | Bin {Scenes => Universes}/Montreal.glb | Bin {Scenes => Universes}/Nurburgring.glb | Bin {Scenes => Universes}/RescuePeople.glb | Bin {Scenes => Universes}/Restaurant.glb | Bin {Scenes => Universes}/SimpleCircuit.glb | Bin {Scenes => Universes}/SmallLaserWarehouse.glb | Bin {Scenes => Universes}/VacuumsHouse.glb | Bin Universes/autopark_battery.urdf | 50 --- Universes/autopark_line.urdf | 50 --- Universes/autopark_line_lidar.urdf | 197 ----------- Universes/autopark_sideways.urdf | 50 --- .../basic_city.urdf | 6 +- Universes/detailed_house.urdf | 84 +++++ Universes/kobuki_1_reconstruction3d.urdf | 40 +++ Universes/kobuki_3d_reconstruction.urdf | 308 ------------------ .../large_basic_city}/meshes/Color.png | Bin .../large_basic_city}/meshes/city.mtl | 0 .../large_basic_city}/meshes/city.obj | 0 .../large_basic_city}/meshes/city_visual.mtl | 0 .../large_basic_city}/meshes/city_visual.obj | 0 .../large_basic_city}/model.config | 2 +- .../large_basic_city}/model.sdf | 16 +- 32 files changed, 138 insertions(+), 667 deletions(-) rename {Scenes => Universes}/3DReconstruction.glb (100%) rename {Scenes => Universes}/APSimpleInLine.glb (100%) rename {Scenes => Universes}/AmazonWarehouse.glb (100%) rename {Scenes => Universes}/CityLarge.glb (100%) rename {Scenes => Universes}/FollowRoad.glb (100%) rename {Scenes => Universes}/Hospital.glb (100%) rename {Scenes => Universes}/LakeHouse.glb (100%) rename {Scenes => Universes}/LaserMappingWarehouse.glb (100%) rename {Scenes => Universes}/Montmelo.glb (100%) rename {Scenes => Universes}/Montreal.glb (100%) rename {Scenes => Universes}/Nurburgring.glb (100%) rename {Scenes => Universes}/RescuePeople.glb (100%) rename {Scenes => Universes}/Restaurant.glb (100%) rename {Scenes => Universes}/SimpleCircuit.glb (100%) rename {Scenes => Universes}/SmallLaserWarehouse.glb (100%) rename {Scenes => Universes}/VacuumsHouse.glb (100%) delete mode 100644 Universes/autopark_line_lidar.urdf rename CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf => Universes/basic_city.urdf (78%) create mode 100644 Universes/detailed_house.urdf create mode 100644 Universes/kobuki_1_reconstruction3d.urdf delete mode 100644 Universes/kobuki_3d_reconstruction.urdf rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/meshes/Color.png (100%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/meshes/city.mtl (100%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/meshes/city.obj (100%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/meshes/city_visual.mtl (100%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/meshes/city_visual.obj (100%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/model.config (89%) rename {CustomRobots/taxi_navigator/models/cityLarge_harmonic => Universes/large_basic_city}/model.sdf (85%) diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt index 51a6a9de2..81d6720d1 100755 --- a/CustomRobots/CMakeLists.txt +++ b/CustomRobots/CMakeLists.txt @@ -121,7 +121,7 @@ install( # drone_assets/bridges above drone_cat_mouse/models - taxi_navigator/models + city_assets/models 3d_reconstruction/models diff --git a/Scenes/3DReconstruction.glb b/Universes/3DReconstruction.glb similarity index 100% rename from Scenes/3DReconstruction.glb rename to Universes/3DReconstruction.glb diff --git a/Scenes/APSimpleInLine.glb b/Universes/APSimpleInLine.glb similarity index 100% rename from Scenes/APSimpleInLine.glb rename to Universes/APSimpleInLine.glb diff --git a/Scenes/AmazonWarehouse.glb b/Universes/AmazonWarehouse.glb similarity index 100% rename from Scenes/AmazonWarehouse.glb rename to Universes/AmazonWarehouse.glb diff --git a/Scenes/CityLarge.glb b/Universes/CityLarge.glb similarity index 100% rename from Scenes/CityLarge.glb rename to Universes/CityLarge.glb diff --git a/Scenes/FollowRoad.glb b/Universes/FollowRoad.glb similarity index 100% rename from Scenes/FollowRoad.glb rename to Universes/FollowRoad.glb diff --git a/Scenes/Hospital.glb b/Universes/Hospital.glb similarity index 100% rename from Scenes/Hospital.glb rename to Universes/Hospital.glb diff --git a/Scenes/LakeHouse.glb b/Universes/LakeHouse.glb similarity index 100% rename from Scenes/LakeHouse.glb rename to Universes/LakeHouse.glb diff --git a/Scenes/LaserMappingWarehouse.glb b/Universes/LaserMappingWarehouse.glb similarity index 100% rename from Scenes/LaserMappingWarehouse.glb rename to Universes/LaserMappingWarehouse.glb diff --git a/Scenes/Montmelo.glb b/Universes/Montmelo.glb similarity index 100% rename from Scenes/Montmelo.glb rename to Universes/Montmelo.glb diff --git a/Scenes/Montreal.glb b/Universes/Montreal.glb similarity index 100% rename from Scenes/Montreal.glb rename to Universes/Montreal.glb diff --git a/Scenes/Nurburgring.glb b/Universes/Nurburgring.glb similarity index 100% rename from Scenes/Nurburgring.glb rename to Universes/Nurburgring.glb diff --git a/Scenes/RescuePeople.glb b/Universes/RescuePeople.glb similarity index 100% rename from Scenes/RescuePeople.glb rename to Universes/RescuePeople.glb diff --git a/Scenes/Restaurant.glb b/Universes/Restaurant.glb similarity index 100% rename from Scenes/Restaurant.glb rename to Universes/Restaurant.glb diff --git a/Scenes/SimpleCircuit.glb b/Universes/SimpleCircuit.glb similarity index 100% rename from Scenes/SimpleCircuit.glb rename to Universes/SimpleCircuit.glb diff --git a/Scenes/SmallLaserWarehouse.glb b/Universes/SmallLaserWarehouse.glb similarity index 100% rename from Scenes/SmallLaserWarehouse.glb rename to Universes/SmallLaserWarehouse.glb diff --git a/Scenes/VacuumsHouse.glb b/Universes/VacuumsHouse.glb similarity index 100% rename from Scenes/VacuumsHouse.glb rename to Universes/VacuumsHouse.glb diff --git a/Universes/autopark_battery.urdf b/Universes/autopark_battery.urdf index 71e2844a4..b8b92b4db 100644 --- a/Universes/autopark_battery.urdf +++ b/Universes/autopark_battery.urdf @@ -11,56 +11,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Universes/autopark_line.urdf b/Universes/autopark_line.urdf index a9cfdcc0f..0448764aa 100644 --- a/Universes/autopark_line.urdf +++ b/Universes/autopark_line.urdf @@ -11,56 +11,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Universes/autopark_line_lidar.urdf b/Universes/autopark_line_lidar.urdf deleted file mode 100644 index a11dbe131..000000000 --- a/Universes/autopark_line_lidar.urdf +++ /dev/null @@ -1,197 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/Universes/autopark_sideways.urdf b/Universes/autopark_sideways.urdf index 3be236d33..acc1b7c46 100644 --- a/Universes/autopark_sideways.urdf +++ b/Universes/autopark_sideways.urdf @@ -11,56 +11,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf b/Universes/basic_city.urdf similarity index 78% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf rename to Universes/basic_city.urdf index 409aa012a..e3b10edc9 100644 --- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf +++ b/Universes/basic_city.urdf @@ -1,11 +1,12 @@ - + + - + 0.8 0.8 0.8 1.0 @@ -18,4 +19,5 @@ + diff --git a/Universes/detailed_house.urdf b/Universes/detailed_house.urdf new file mode 100644 index 000000000..efc0bdcf4 --- /dev/null +++ b/Universes/detailed_house.urdf @@ -0,0 +1,84 @@ + + + + + + + + + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + + + + + + diff --git a/Universes/kobuki_1_reconstruction3d.urdf b/Universes/kobuki_1_reconstruction3d.urdf new file mode 100644 index 000000000..9d8d3bf23 --- /dev/null +++ b/Universes/kobuki_1_reconstruction3d.urdf @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Universes/kobuki_3d_reconstruction.urdf b/Universes/kobuki_3d_reconstruction.urdf deleted file mode 100644 index 9fa6b1834..000000000 --- a/Universes/kobuki_3d_reconstruction.urdf +++ /dev/null @@ -1,308 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/Color.png b/Universes/large_basic_city/meshes/Color.png similarity index 100% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/Color.png rename to Universes/large_basic_city/meshes/Color.png diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.mtl b/Universes/large_basic_city/meshes/city.mtl similarity index 100% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.mtl rename to Universes/large_basic_city/meshes/city.mtl diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.obj b/Universes/large_basic_city/meshes/city.obj similarity index 100% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.obj rename to Universes/large_basic_city/meshes/city.obj diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.mtl b/Universes/large_basic_city/meshes/city_visual.mtl similarity index 100% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.mtl rename to Universes/large_basic_city/meshes/city_visual.mtl diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.obj b/Universes/large_basic_city/meshes/city_visual.obj similarity index 100% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.obj rename to Universes/large_basic_city/meshes/city_visual.obj diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config b/Universes/large_basic_city/model.config similarity index 89% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config rename to Universes/large_basic_city/model.config index 405470137..0d992c4a0 100644 --- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config +++ b/Universes/large_basic_city/model.config @@ -1,7 +1,7 @@ - CityLarge_harmonic + large_basic_city 1.0 model.sdf diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf b/Universes/large_basic_city/model.sdf similarity index 85% rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf rename to Universes/large_basic_city/model.sdf index 30587bea5..c6e3a53af 100644 --- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf +++ b/Universes/large_basic_city/model.sdf @@ -1,17 +1,17 @@ - + 0 0 0 0 0 0 true - + 0 0 0 0 0 0 - + 0 0 0 1.5708 0 0 - model://cityLarge_harmonic/meshes/city.obj + model://large_basic_city/meshes/city.obj 1 1 1 @@ -28,12 +28,12 @@ - + 0 0 0 1.5708 0 0 - model://cityLarge_harmonic/meshes/city.obj + model://large_basic_city/meshes/city.obj 1 1 1 @@ -44,12 +44,12 @@ - + 1000.0 From 2c40109584ad98ff2aab35b0575afafc13f457be Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Fri, 17 Jul 2026 14:09:24 +0200 Subject: [PATCH 2/5] Change house --- Universes/detailed_house.urdf | 85 ++++-------------------- Universes/marker_visual_loc.urdf | 109 ------------------------------- 2 files changed, 13 insertions(+), 181 deletions(-) delete mode 100644 Universes/marker_visual_loc.urdf diff --git a/Universes/detailed_house.urdf b/Universes/detailed_house.urdf index efc0bdcf4..9ca6a0a3b 100644 --- a/Universes/detailed_house.urdf +++ b/Universes/detailed_house.urdf @@ -1,84 +1,25 @@ - + - - + - + - + - 1.0 1.0 1.0 - 1.0 1.0 1.0 + - - + + + + + + + + diff --git a/Universes/marker_visual_loc.urdf b/Universes/marker_visual_loc.urdf deleted file mode 100644 index 18aa6823a..000000000 --- a/Universes/marker_visual_loc.urdf +++ /dev/null @@ -1,109 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 06e58e6cc7709c94b3103aa9959668f8680f1713 Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Fri, 17 Jul 2026 15:09:19 +0200 Subject: [PATCH 3/5] Remove unused assets --- .../models/Lake House/meshes/house.dae | 42 ------------------- 1 file changed, 42 deletions(-) diff --git a/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae b/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae index 8d717660b..537a2adaa 100644 --- a/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae +++ b/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae @@ -16,9 +16,6 @@ Z_UP - - ../materials/textures/ConcreteTiles_Albedo.png - ../materials/textures/Siding_Albedo.png @@ -37,15 +34,9 @@ ../materials/textures/Brick_Albedo.png - - ../materials/textures/Asphalt_Albedo.png - ../materials/textures/Baseboard_Albedo.png - - ../materials/textures/Cobblestone_Albedo.png - ../materials/textures/Cabinets_Albedo.jpeg @@ -144,17 +135,6 @@ 0.800000 0.800000 0.800000 1.000000 - - - - - TRUE - TRUE - ADD - - - - 0.000000 0.000000 0.000000 1.000000 @@ -382,17 +362,6 @@ 0.800000 0.800000 0.800000 1.000000 - - - - - TRUE - TRUE - ADD - - - - 0.000000 0.000000 0.000000 1.000000 @@ -450,17 +419,6 @@ 0.800000 0.800000 0.800000 1.000000 - - - - - TRUE - TRUE - ADD - - - - 0.000000 0.000000 0.000000 1.000000 From c02908f54a0eedc7eec31aec6078d980bb04da47 Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Mon, 20 Jul 2026 11:31:08 +0200 Subject: [PATCH 4/5] Fix missing models --- .../models/large_basic_city/meshes/Color.png | Bin 0 -> 691 bytes .../models/large_basic_city/meshes/city.mtl | 22 + .../models/large_basic_city/meshes/city.obj | 32441 ++++++++++++++++ .../large_basic_city/meshes/city_visual.mtl | 22 + .../large_basic_city/meshes/city_visual.obj | 32438 +++++++++++++++ .../models/large_basic_city/model.config | 16 + .../models/large_basic_city/model.sdf | 66 + Scenes/basic_city.world | 2 +- 8 files changed, 65006 insertions(+), 1 deletion(-) create mode 100644 CustomRobots/city_assets/models/large_basic_city/meshes/Color.png create mode 100644 CustomRobots/city_assets/models/large_basic_city/meshes/city.mtl create mode 100644 CustomRobots/city_assets/models/large_basic_city/meshes/city.obj create mode 100644 CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.mtl create mode 100644 CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.obj create mode 100644 CustomRobots/city_assets/models/large_basic_city/model.config create mode 100644 CustomRobots/city_assets/models/large_basic_city/model.sdf diff --git a/CustomRobots/city_assets/models/large_basic_city/meshes/Color.png b/CustomRobots/city_assets/models/large_basic_city/meshes/Color.png new file mode 100644 index 0000000000000000000000000000000000000000..9fc4bdf4ef90f674568e6ac3daa42d5578d65bd6 GIT binary patch literal 691 zcmeAS@N?(olHy`uVBq!ia0y~yU;#2&7#Nv>l7nG + + + large_basic_city + 1.0 + model.sdf + + + Samuek Rey + samuel.rey.escudero@gmail.com + + + + A large city for navigation algorithm. + + diff --git a/CustomRobots/city_assets/models/large_basic_city/model.sdf b/CustomRobots/city_assets/models/large_basic_city/model.sdf new file mode 100644 index 000000000..1400b2c9d --- /dev/null +++ b/CustomRobots/city_assets/models/large_basic_city/model.sdf @@ -0,0 +1,66 @@ + + + + 0 0 0 0 0 0 + true + + + 0 0 0 0 0 0 + + + 0 0 0 1.5708 0 0 + + + model://large_basic_city/meshes/city.obj + 1 1 1 + + + + + false + 1 + + + + 1.0 + 1.0 + + + + + + + 0 0 0 1.5708 0 0 + + + model://large_basic_city/meshes/city.obj + 1 1 1 + + + + 0.8 0.8 0.8 1.0 + 0.8 0.8 0.8 1.0 + 0.1 0.1 0.1 1.0 + + + + + + 1000.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + \ No newline at end of file diff --git a/Scenes/basic_city.world b/Scenes/basic_city.world index 0b31223be..f719e1d50 100755 --- a/Scenes/basic_city.world +++ b/Scenes/basic_city.world @@ -56,7 +56,7 @@ 0 0 -0.5 0 0 0 - model://cityLarge_harmonic + model://large_basic_city From 816cfb221144a2a2da4f3d0d90115849f1c7b62a Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Fri, 31 Jul 2026 16:35:20 +0200 Subject: [PATCH 5/5] Clean more worlds --- .../{road_junction.urdf => car_junction.urdf} | 0 Universes/hospital.urdf | 1232 +++++++++++++ Universes/hospital_follow_person.urdf | 1482 --------------- Universes/laser_map.urdf | 304 +--- Universes/rescue_people.urdf | 36 +- ...oomba_1_house_followingcam_visual_loc.urdf | 1609 ----------------- Universes/rover4wd_warehouse.urdf | 145 ++ Universes/small_house.urdf | 997 ++++++++++ ...mba_1_house.urdf => small_house_roof.urdf} | 477 ++--- ...ehouse_with_robot.urdf => warehouse1.urdf} | 278 --- ...ehouse_with_robot.urdf => warehouse2.urdf} | 252 +-- 11 files changed, 2593 insertions(+), 4219 deletions(-) rename Universes/{road_junction.urdf => car_junction.urdf} (100%) create mode 100644 Universes/hospital.urdf delete mode 100644 Universes/hospital_follow_person.urdf delete mode 100644 Universes/roomba_1_house_followingcam_visual_loc.urdf create mode 100644 Universes/rover4wd_warehouse.urdf create mode 100644 Universes/small_house.urdf rename Universes/{roomba_1_house.urdf => small_house_roof.urdf} (75%) rename Universes/{no_roof_small_warehouse_with_robot.urdf => warehouse1.urdf} (53%) rename Universes/{pallet_warehouse_with_robot.urdf => warehouse2.urdf} (93%) diff --git a/Universes/road_junction.urdf b/Universes/car_junction.urdf similarity index 100% rename from Universes/road_junction.urdf rename to Universes/car_junction.urdf diff --git a/Universes/hospital.urdf b/Universes/hospital.urdf new file mode 100644 index 000000000..888c4209b --- /dev/null +++ b/Universes/hospital.urdf @@ -0,0 +1,1232 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Universes/hospital_follow_person.urdf b/Universes/hospital_follow_person.urdf deleted file mode 100644 index eba99e7cd..000000000 --- a/Universes/hospital_follow_person.urdf +++ /dev/null @@ -1,1482 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Black - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Universes/laser_map.urdf b/Universes/laser_map.urdf index 6ed731a0b..7c521e883 100644 --- a/Universes/laser_map.urdf +++ b/Universes/laser_map.urdf @@ -1,270 +1,46 @@ - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -569,7 +345,7 @@ - + diff --git a/Universes/rescue_people.urdf b/Universes/rescue_people.urdf index cd694bfe5..5e810dd81 100644 --- a/Universes/rescue_people.urdf +++ b/Universes/rescue_people.urdf @@ -1,10 +1,9 @@ - - + @@ -16,7 +15,7 @@ - + @@ -28,7 +27,7 @@ - + @@ -40,7 +39,7 @@ - + @@ -52,7 +51,7 @@ - + @@ -64,7 +63,7 @@ - + @@ -76,35 +75,35 @@ - + - + - + - + - + @@ -113,16 +112,13 @@ - + - - - - - - - + + + + diff --git a/Universes/roomba_1_house_followingcam_visual_loc.urdf b/Universes/roomba_1_house_followingcam_visual_loc.urdf deleted file mode 100644 index ba88a2b96..000000000 --- a/Universes/roomba_1_house_followingcam_visual_loc.urdf +++ /dev/null @@ -1,1609 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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