Improve office world (#75)

Signed-off-by: Laura Rodriguez <[email protected]> Signed-off-by: Franco Cipollone <[email protected]> Co-authored-by: Franco Cipollone <[email protected]> Co-authored-by: Franco Cipollone <[email protected]>
Ekumen-OS · Aug 27, 2024 · 714fe4b · 714fe4b
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Showing 17 changed files with 832 additions and 57 deletions.
diff --git a/andino_gz/config_gui/default.config b/andino_gz/config_gui/default.config
@@ -41,7 +41,7 @@
   <scene>scene</scene>
   <ambient_light>0.4 0.4 0.4</ambient_light>
   <background_color>0.8 0.8 0.8</background_color>
-  <camera_pose>-2 0 1 0 0 0</camera_pose>
+  <camera_pose>-2 0 3 0 0.6 0</camera_pose>
   <horizontal_fov>80</horizontal_fov>
   <view_controller>orbit</view_controller>
 </plugin>

diff --git a/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_Color.jpg b/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_Color.jpg
diff --git a/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_NormalDX.jpg b/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_NormalDX.jpg
diff --git a/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_Roughness.jpg b/andino_gz/models/office/materials/textures/tiles/Tiles054_1K-JPG_Roughness.jpg
diff --git a/andino_gz/models/office/materials/textures/walls/macro_flour_diff_4k.jpg b/andino_gz/models/office/materials/textures/walls/macro_flour_diff_4k.jpg
diff --git a/andino_gz/models/office/materials/textures/walls/macro_flour_nor_gl_4k.exr b/andino_gz/models/office/materials/textures/walls/macro_flour_nor_gl_4k.exr
diff --git a/andino_gz/models/office/materials/textures/walls/macro_flour_rough_4k.exr b/andino_gz/models/office/materials/textures/walls/macro_flour_rough_4k.exr
diff --git a/andino_gz/models/office/materials/textures/wood/wood_floor_diff_4k.jpg b/andino_gz/models/office/materials/textures/wood/wood_floor_diff_4k.jpg
diff --git a/andino_gz/models/office/materials/textures/wood/wood_floor_nor_gl_4k.exr b/andino_gz/models/office/materials/textures/wood/wood_floor_nor_gl_4k.exr
diff --git a/andino_gz/models/office/materials/textures/wood/wood_floor_rough_4k.exr b/andino_gz/models/office/materials/textures/wood/wood_floor_rough_4k.exr
diff --git a/andino_gz/models/office/meshes/tiles.dae b/andino_gz/models/office/meshes/tiles.dae
diff --git a/andino_gz/models/office/meshes/walls.dae b/andino_gz/models/office/meshes/walls.dae
diff --git a/andino_gz/models/office/meshes/wood.dae b/andino_gz/models/office/meshes/wood.dae
diff --git a/andino_gz/models/office/model.config b/andino_gz/models/office/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>office</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>lrodriguez22</name>
+  </author>
+
+  <description>
+    Office model
+  </description>
+
+</model>
diff --git a/andino_gz/models/office/model.sdf b/andino_gz/models/office/model.sdf
@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name='office'>
+    <static>1</static>
+    <link name='walls'>
+      <collision name='collision'>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/walls.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode/>
+          </friction>
+          <bounce/>
+          <contact/>
+        </surface>
+      </collision>
+      <visual name='visual'>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/walls.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0 0 0 0</specular> 
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/walls/macro_flour_diff_4k.jpg</albedo_map>
+              <normal_map>materials/textures/walls/macro_flour_nor_gl_4k.exr</normal_map>
+              <roughness_map>materials/textures/walls/macro_flour_rough_4k.exr</roughness_map>
+              <metalness>0.</metalness>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+    </link>
+    <link name='wood_floor'>
+      <visual name='visual'>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wood.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular> 
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/wood/wood_floor_diff_4k.jpg</albedo_map>
+              <normal_map>materials/textures/wood/wood_floor_nor_gl_4k.exr</normal_map>
+              <roughness_map>materials/textures/wood/wood_floor_rough_4k.exr</roughness_map>
+              <metalness>0.</metalness>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+    </link>
+    <link name='tiles'>
+      <visual name='visual'>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/tiles.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular> 
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/tiles/Tiles054_1K-JPG_Color.jpg</albedo_map>
+              <normal_map>materials/textures/tiles/Tiles054_1K-JPG_NormalDX.jpg</normal_map>
+              <roughness_map>materials/textures/tiles/Tiles054_1K-JPG_Roughness.jpg</roughness_map>
+              <metalness>0.</metalness>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+    </link>
+
+    <pose>0 0 0 0 0 0</pose>
+  </model>
+</sdf>
diff --git a/andino_gz/worlds/office.sdf b/andino_gz/worlds/office.sdf
@@ -16,6 +16,7 @@
       <ambient>0.4 0.4 0.4 1</ambient>
       <background>0.7 0.7 0.7 1</background>
       <shadows>1</shadows>
+      <grid>0</grid>
     </scene>
     <light name='sun' type='directional'>
       <cast_shadows>1</cast_shadows>
@@ -63,66 +64,15 @@
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.0 0.0 1.0 1.0</ambient>
-            <diffuse>1.0 1.0 1.0 1.0</diffuse>
-            <specular>0.1 0.1 0.1 1.0</specular>
-            <emissive>0.0 0.0 0.0 1.0</emissive>
-          </material>
-        </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
     </model>
-    <model name='hq'>
-      <link name='walls'>
-        <pose>1e-06 -5e-06 0 0 -0 0</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://office.stl</uri>
-              <scale>1 1 1</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <lighting>1</lighting>
-            <ambient>1.0 1.0 1.0 1.0</ambient>
-            <diffuse>1.0 1.0 1.0 1.0</diffuse>
-            <specular>0.1 0.1 0.1 1.0</specular>
-            <emissive>0.0 0.0 0.0 1.0</emissive>
-            <shader type='pixel'/>
-          </material>
-          <transparency>0</transparency>
-          <cast_shadows>1</cast_shadows>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://office.stl</uri>
-              <scale>1 1 1</scale>
-            </mesh>
-          </geometry>
-        </collision>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>-1.90399 -7.35802 0 0 -0 0</pose>
-    </model>
+    <include>
+      <uri>
+        model://office
+      </uri>
+    </include>
   </world>
 </sdf>