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benchmark_apartment.wbt
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#VRML_SIM R2023b utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/CeilingLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/FloorLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Wall.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/bedroom/protos/Bed.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/Chair.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Armchair.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Parquetry.proto"
EXTERNPROTO "../protos/Custom_iRobot_Create.proto"
WorldInfo {
info [
"Custom iRobot Roomba Simulation"
]
title "Empty Apartment"
}
Viewpoint {
orientation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944
position 9.440239656770938e-05 9.440266351492402e-05 42.61898187654311
near 0.1
}
TexturedBackground {
}
CeilingLight {
translation 1.82639 -1.29685 2.4
pointLightColor 1 1 0.9372549019607843
pointLightIntensity 7
}
CeilingLight {
translation -3.25511 1.9443400000000004 2.4
name "ceiling light(2)"
pointLightIntensity 6
}
FloorLight {
translation -4.528276895458201 -4.2693419342918375 0
pointLightIntensity 2
}
Wall {
translation 5 0 0
size 0.3 10.3 2.4
}
Wall {
translation 0 5 0
rotation 0 0 1 1.5708
name "wall(2)"
size 0.3 9.7 2.4
}
Wall {
translation -5 0 0
name "wall(3)"
size 0.3 10.3 2.4
}
Wall {
translation 0 -5 0
rotation 0 0 1 1.5708
name "wall(4)"
size 0.3 9.7 2.4
}
Wall {
translation -1.5 2.675 0
name "wall(5)"
size 0.3 4.35 2.4
}
Bed {
translation 3.75 3.2800000002397445 0
rotation 0 0 1 3.1415
}
Table {
translation -3.28632 -3.86254 0
}
Chair {
translation -3.72164 -3.47751 0
rotation 0 0 -1 -0.11945530717958608
}
Table {
translation 2.2745 -0.476732 0
rotation 0 0 1 0.534482
name "table(2)"
size 0.8 1.2 0.53
}
Armchair {
translation 3.5894 0.323101 0
rotation 0 0 1 -2.5895153071795862
}
Robot {
children [
Shape {
appearance Parquetry {
textureTransform TextureTransform {
scale 7 7
}
}
geometry Plane {
size 10 10
}
}
Display {
translation 0 0 0.01
children [
Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
"https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/irobot/create/controllers/ground/dust.jpg"
]
}
transparency 0.9
roughness 0.5
metalness 0
}
geometry Plane {
size 9.9 9.9
}
}
]
name "ground_display"
width 512
height 512
}
]
name "ground"
boundingObject Plane {
size 9.9 9.9
}
locked TRUE
controller "ground"
supervisor TRUE
}
DEF CUSTOM_ROOMBA Custom_iRobot_Create {
translation -4 -0.5 0.044
}
DEF SUPERVISOR Robot {
translation 40 40 0.25
controller "supervisor_ros"
supervisor TRUE
}