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b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.lwo differ diff --git a/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl new file mode 100755 index 000000000..bb59bb2bc --- /dev/null +++ b/CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/Renault/Wheel.mtl @@ -0,0 +1,118 @@ +# +# Wavefront material file +# Converted by the DEEP Exploration Deep Exploration 6.1 x64 6.1.2.6638 +# Right Hemisphere, LTD +# http://www.righthemisphere.com/ +# + +newmtl mirrors +Ka 0 0 0 +Kd 1 1 1 +Ks 0 0 0 +illum 2 +Ns 2 +map_Kd +map_bump +bump +map_opacity +map_d +refl +map_kS +map_kA +map_Ns + +newmtl flag +Ka 0 0 0 +Kd 1 1 1 +Ks 0 0 0 +illum 2 +Ns 2 +map_Kd materials/textures/int_indicator.png +map_bump +bump +map_opacity +map_d +refl +map_kS +map_kA +map_Ns + +newmtl digi +Ka 0 0 0 +Kd 1 1 1 +Ks 0 0 0 +illum 2 +Ns 2 +map_Kd 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1751.47 413.8586 0.04330609 1751.237 406.9276 0.04277474 1751.609 407.4184 0.04277424 1754.093 417.4406 0.04330611 1751.982 407.9092 0.04277373 1754.652 411.4929 0.04277011 1756.686 421.0445 0.04330613 1757.293 415.0988 0.04276652 1759.248 424.67 0.04330616 1759.903 418.7268 0.04276297 1761.78 428.3169 0.04330618 1762.483 422.3765 0.04275945 1764.281 431.9849 0.0433062 1765.032 426.0478 0.04275598 1766.751 435.6738 0.04330622 1767.55 429.7403 0.04275254 1769.191 439.3833 0.04330625 1770.037 433.4538 0.04274914 1771.599 443.1131 0.04330627 1772.493 437.188 0.04274578 1773.975 446.863 0.04330629 1774.917 440.9427 0.04274246 1776.32 450.6328 0.04330631 1777.31 444.7177 0.04273918 1778.634 454.4221 0.04330633 1779.671 448.5125 0.04273594 1780.915 458.2307 0.04330635 1782.001 452.327 0.04273274 1783.164 462.0583 0.04330637 1784.298 456.1609 0.04272958 1785.382 465.9046 0.04330639 1786.563 460.014 0.04272646 1787.566 469.7695 0.04330641 1788.795 463.8859 0.04272338 1789.719 473.6525 0.04330643 1790.995 467.7764 0.04272034 1791.838 477.5534 0.04330645 1793.162 471.6853 0.04271734 1793.925 481.4721 0.04330647 1795.296 475.6121 0.04271438 1795.979 485.4081 0.04330649 1797.398 479.5568 0.04271147 1797.999 489.3612 0.04330651 1799.466 483.5189 0.04270859 1799.987 493.3311 0.04330653 1801.501 487.4982 0.04270576 1801.941 497.3176 0.04330655 1803.502 491.4945 0.04270297 1803.861 501.3203 0.04330656 1805.47 495.5074 0.04270022 1805.748 505.339 0.04330658 1807.404 499.5367 0.04269752 1807.601 509.3734 0.0433066 1809.304 503.582 0.04269485 1809.42 513.4233 0.04330662 1811.17 507.6432 0.04269223 1811.205 517.4882 0.04330663 1813.002 511.7199 0.04268966 1812.956 521.568 0.04330665 1814.673 525.6624 0.04330667 1814.8 515.8118 0.04268712 1816.355 529.771 0.04330668 1816.564 519.9186 0.04268463 1818.002 533.8936 0.0433067 1818.293 524.0401 0.04268218 1819.615 538.0299 0.04330671 1819.987 528.1759 0.04267978 1821.193 542.1796 0.04330673 1821.646 532.3258 0.04267742 1822.736 546.3423 0.04330674 1823.271 536.4895 0.0426751 1824.245 550.5179 0.04330676 1824.861 540.6666 0.04267283 1825.718 554.706 0.04330677 1826.415 544.857 0.0426706 1827.156 558.9063 0.04330678 1827.935 549.0602 0.04266842 1828.558 563.1186 0.0433068 1829.419 553.276 0.04266628 1829.925 567.3425 0.04330681 1830.867 557.5042 0.04266419 1831.257 571.5776 0.04330682 1832.28 561.7443 0.04266214 1832.553 575.8239 0.04330684 1833.658 565.9961 0.04266013 1833.813 580.0808 0.04330685 1835 570.2594 0.04265818 1835.038 584.3482 0.04330686 1836.306 574.5337 0.04265626 1836.227 588.6257 0.04330687 1837.379 592.9131 0.04330688 1837.576 578.8189 0.04265439 1838.496 597.21 0.04330689 1838.81 583.1146 0.04265257 1839.577 601.516 0.0433069 1840.008 587.4204 0.0426508 1840.621 605.8311 0.04330692 1841.17 591.7362 0.04264907 1841.629 610.1547 0.04330693 1842.295 596.0615 0.04264738 1841.824 611.021 0.04330296 1842.601 614.4866 0.04330694 1843.385 600.3962 0.04264574 1843.069 616.6566 0.04330694 1843.537 618.8266 0.04330694 1844.438 604.7398 0.04264415 1844.436 623.1742 0.04330695 1845.298 627.5293 0.04330696 1845.454 609.0921 0.0426426 1846.124 631.8914 0.04330697 1845.609 609.7829 0.04264237 1846.434 613.4528 0.0426411 1846.913 636.2603 0.04330698 1846.719 614.7733 0.04264066 1847.377 617.8215 0.04263965 1847.666 640.6357 0.04330699 1848.284 622.198 0.04263824 1848.381 645.0172 0.043307 1849.153 626.582 0.04263689 1849.06 649.4046 0.043307 1849.702 653.7976 0.04330701 1849.986 630.9731 0.04263557 1850.307 658.1957 0.04330702 1850.783 635.371 0.04263431 1850.876 662.5988 0.04330702 1851.542 639.7755 0.04263309 1851.407 667.0066 0.04330703 1851.901 671.4186 0.04330704 1852.264 644.1862 0.04263192 1852.358 675.8346 0.04330704 1852.949 648.6027 0.04263079 1852.778 680.2543 0.04330705 1853.161 684.6774 0.04330705 1853.598 653.0249 0.04262971 1853.507 689.1035 0.04330706 1853.816 693.5324 0.04330706 1854.209 657.4523 0.04262868 1854.087 697.9637 0.04330706 1854.321 702.3971 0.04330707 1854.782 661.8848 0.0426277 1854.518 706.8323 0.04330707 1854.678 711.2691 0.04330707 1854.801 715.707 0.04330708 1855.319 666.3218 0.04262677 1854.886 720.1458 0.04330708 1854.934 724.5851 0.04330708 1854.945 729.0247 0.04330708 1855.056 908.2115 0.04330709 1855.2 910.1448 0.04330709 1855.36 912.0769 0.04330709 1855.819 670.7632 0.04262588 1855.535 914.0076 0.04330709 1855.725 915.937 0.04330709 1855.93 917.8648 0.04330709 1856.281 675.2087 0.04262504 1856.15 919.7909 0.04330709 1856.386 921.7152 0.04330709 1856.706 679.6579 0.04262425 1856.636 923.6377 0.04330709 1856.902 925.5581 0.04330709 1857.093 684.1105 0.0426235 1857.183 927.4763 0.04330709 1857.443 688.5661 0.04262281 1857.478 929.3923 0.04330709 1857.756 693.0246 0.04262216 1857.789 931.3059 0.04330709 1858.032 697.4855 0.04262156 1858.115 933.217 0.04330709 1858.269 701.9486 0.042621 1858.414 890.5173 0.04330709 1858.456 935.1255 0.04330709 1858.414 751.0946 0.04261809 1858.421 892.4268 0.04330709 1858.444 894.3362 0.04330709 1858.481 896.2453 0.04330709 1858.812 937.0313 0.04330709 1858.534 898.1541 0.04330709 1858.601 900.0625 0.04330709 1858.684 901.9702 0.04330709 1858.781 903.8772 0.04330709 1858.893 905.7834 0.04330709 1859.182 938.9342 0.04330709 1859.021 907.6887 0.04330709 1859.163 909.5929 0.04330709 1859.32 911.4959 0.04330709 1859.568 940.8341 0.04330709 1859.493 913.3976 0.04330709 1859.68 915.298 0.04330709 1859.969 942.731 0.04330709 1859.882 917.1968 0.04330709 1860.099 919.0939 0.04330709 1860.384 944.6246 0.04330709 1860.331 920.9893 0.04330709 1860.578 922.8828 0.04330709 1860.814 946.5149 0.04330709 1860.839 924.7743 0.04330709 1861.26 948.4018 0.04330709 1861.116 926.6637 0.04330709 1861.407 928.5509 0.04330709 1861.72 950.2851 0.04330709 1861.713 930.4357 0.04330709 1862.034 932.318 0.04330709 1862.194 952.1648 0.04330709 1862.37 934.1978 0.04330709 1862.684 954.0407 0.04330709 1862.72 936.0749 0.04330709 1863.188 955.9126 0.04330709 1863.085 937.9492 0.04330709 1863.465 939.8205 0.04330709 1863.707 957.7806 0.04330709 1863.86 941.6888 0.04330709 1864.241 959.6444 0.04330709 1864.269 943.554 0.04330709 1864.789 961.504 0.04330709 1864.693 945.4158 0.04330709 1865.131 947.2743 0.04330709 1865.351 963.3592 0.04330709 1865.584 949.1293 0.04330709 1865.929 965.2099 0.04330709 1866.052 950.9807 0.04330709 1866.521 967.056 0.04330709 1866.534 952.8284 0.04330709 1867.127 968.8975 0.04330709 1867.031 954.6722 0.04330709 1867.542 956.512 0.04330709 1867.748 970.7341 0.04330709 1868.067 958.3478 0.04330709 1868.383 972.5658 0.04330709 1868.607 960.1794 0.04330709 1869.032 974.3924 0.04330709 1869.162 962.0067 0.04330709 1869.696 976.2139 0.04330709 1869.73 963.8295 0.04330709 1870.374 978.0301 0.04330709 1870.313 965.6479 0.04330709 1870.91 967.4616 0.04330709 1871.067 979.8409 0.04330709 1871.522 969.2706 0.04330709 1871.773 981.6462 0.04330709 1872.147 971.0747 0.04330709 1872.494 983.446 0.04330709 1872.787 972.8739 0.04330709 1873.229 985.24 0.04330709 1873.441 974.668 0.04330709 1873.978 987.0281 0.04330709 1874.109 976.4568 0.04330709 1874.741 988.8104 0.04330709 1874.791 978.2404 0.04330709 1875.518 990.5866 0.04330709 1875.487 980.0186 0.04330709 1876.197 981.7912 0.04330709 1876.309 992.3566 0.04330709 1876.921 983.5582 0.04330709 1877.113 994.1204 0.04330709 1877.658 985.3195 0.04330709 1877.932 995.8778 0.04330709 1878.41 987.075 0.04330709 1878.764 997.6287 0.04330709 1879.175 988.8244 0.04330709 1879.61 999.3731 0.04330709 1879.954 990.5678 0.04330709 1880.47 1001.111 0.04330709 1880.747 992.3051 0.04330709 1881.343 1002.842 0.04330709 1881.553 994.036 0.04330709 1882.23 1004.565 0.04330709 1882.373 995.7606 0.04330709 1883.131 1006.282 0.04330709 1883.206 997.4787 0.04330709 1884.045 1007.992 0.04330709 1884.053 999.1902 0.04330709 1884.972 1009.695 0.04330709 1884.913 1000.895 0.04330709 1885.787 1002.593 0.04330709 1885.913 1011.39 0.04330709 1886.673 1004.284 0.04330709 1886.867 1013.078 0.04330709 1887.574 1005.968 0.04330709 1887.834 1014.758 0.04330709 1888.487 1007.645 0.04330709 1888.814 1016.43 0.04330709 1889.413 1009.315 0.04330709 1889.807 1018.095 0.04330709 1890.353 1010.977 0.04330709 1890.814 1019.752 0.04330709 1891.306 1012.632 0.04330709 1891.833 1021.401 0.04330709 1892.271 1014.279 0.04330709 1892.866 1023.042 0.04330709 1893.25 1015.919 0.04330709 1893.911 1024.675 0.04330709 1894.241 1017.551 0.04330709 1894.969 1026.299 0.04330709 1895.245 1019.175 0.04330709 1896.04 1027.916 0.04330709 1896.262 1020.792 0.04330709 1897.123 1029.523 0.04330709 1897.291 1022.4 0.04330709 1898.219 1031.122 0.04330709 1898.333 1024 0.04330709 1899.328 1032.713 0.04330709 1899.388 1025.592 0.04330709 1900.449 1034.295 0.04330709 1900.455 1027.175 0.04330709 1901.582 1035.868 0.04330709 1901.535 1028.75 0.04330709 1902.627 1030.317 0.04330709 1902.728 1037.432 0.04330709 1903.731 1031.875 0.04330709 1903.886 1038.986 0.04330709 1904.847 1033.424 0.04330709 1905.056 1040.532 0.04330709 1905.975 1034.965 0.04330709 1906.238 1042.069 0.04330709 1907.116 1036.496 0.04330709 1907.432 1043.596 0.04330709 1908.268 1038.019 0.04330709 1908.638 1045.114 0.04330709 1909.433 1039.532 0.04330709 1909.856 1046.622 0.04330709 1910.609 1041.036 0.04330709 1911.086 1048.121 0.04330709 1911.797 1042.531 0.04330709 1912.328 1049.609 0.04330709 1912.997 1044.017 0.04330709 1913.581 1051.089 0.04330709 1914.208 1045.493 0.04330709 1914.846 1052.558 0.04330709 1915.431 1046.959 0.04330709 1916.122 1054.017 0.04330709 1916.666 1048.416 0.04330709 1917.41 1055.466 0.04330709 1917.911 1049.863 0.04330709 1918.709 1056.905 0.04330709 1919.169 1051.301 0.04330709 1920.02 1058.334 0.04330709 1920.437 1052.728 0.04330709 1921.341 1059.752 0.04330709 1921.717 1054.145 0.04330709 1922.674 1061.16 0.04330709 1923.007 1055.553 0.04330709 1924.018 1062.558 0.04330709 1924.309 1056.95 0.04330709 1925.372 1063.945 0.04330709 1925.622 1058.337 0.04330709 1926.738 1065.321 0.04330709 1926.945 1059.713 0.04330709 1928.114 1066.687 0.04330709 1928.279 1061.079 0.04330709 1929.501 1068.041 0.04330709 1929.624 1062.435 0.04330709 1930.898 1069.385 0.04330709 1930.98 1063.779 0.04330709 1932.306 1070.718 0.04330709 1932.346 1065.114 0.04330709 1933.725 1072.039 0.04330709 1933.722 1066.437 0.04330709 1935.109 1067.75 0.04330709 1935.153 1073.349 0.04330709 1936.506 1069.051 0.04330709 1936.592 1074.649 0.04330709 1937.913 1070.342 0.04330709 1938.042 1075.936 0.04330709 1939.331 1071.622 0.04330709 1939.501 1077.213 0.04330709 1940.758 1072.89 0.04330709 1940.97 1078.478 0.04330709 1942.195 1074.147 0.04330709 1942.449 1079.731 0.04330709 1943.643 1075.393 0.04330709 1943.938 1080.972 0.04330709 1945.099 1076.627 0.04330709 1945.437 1082.202 0.04330709 1946.566 1077.85 0.04330709 1946.945 1083.42 0.04330709 1948.042 1079.062 0.04330709 1948.463 1084.627 0.04330709 1949.528 1080.262 0.04330709 1949.99 1085.821 0.04330709 1951.023 1081.45 0.04330709 1951.526 1087.003 0.04330709 1952.527 1082.626 0.04330709 1953.072 1088.173 0.04330709 1954.04 1083.79 0.04330709 1954.627 1089.331 0.04330709 1955.563 1084.943 0.04330709 1956.191 1090.477 0.04330709 1957.094 1086.083 0.04330709 1957.764 1091.61 0.04330709 1958.635 1087.212 0.04330709 1959.346 1092.731 0.04330709 1960.184 1088.328 0.04330709 1960.936 1093.84 0.04330709 1961.742 1089.432 0.04330709 1962.535 1094.936 0.04330709 1963.308 1090.524 0.04330709 1964.143 1096.019 0.04330709 1964.883 1091.604 0.04330709 1965.759 1097.09 0.04330709 1966.467 1092.671 0.04330709 1967.384 1098.148 0.04330709 1968.059 1093.725 0.04330709 1969.017 1099.193 0.04330709 1969.659 1094.767 0.04330709 1970.658 1100.225 0.04330709 1971.267 1095.797 0.04330709 1972.307 1101.245 0.04330709 1972.883 1096.814 0.04330709 1973.964 1102.251 0.04330709 1974.508 1097.818 0.04330709 1975.628 1103.245 0.04330709 1976.14 1098.809 0.04330709 1977.301 1104.225 0.04330709 1977.779 1099.788 0.04330709 1978.981 1105.192 0.04330709 1979.427 1100.753 0.04330709 1980.669 1106.146 0.04330709 1981.082 1101.706 0.04330709 1982.364 1107.087 0.04330709 1982.744 1102.645 0.04330709 1984.067 1108.014 0.04330709 1984.414 1103.572 0.04330709 1985.776 1108.928 0.04330709 1986.091 1104.485 0.04330709 1987.493 1109.828 0.04330709 1987.775 1105.385 0.04330709 1989.217 1110.715 0.04330709 1989.466 1106.272 0.04330709 1990.948 1111.589 0.04330709 1991.164 1107.146 0.04330709 1992.686 1112.448 0.04330709 1992.869 1108.006 0.04330709 1994.43 1113.294 0.04330709 1994.58 1108.853 0.04330709 1996.181 1114.127 0.04330709 1996.298 1109.686 0.04330709 1997.938 1114.945 0.04330709 1998.023 1110.506 0.04330709 1999.702 1115.75 0.04330709 1999.754 1111.312 0.04330709 2001.472 1116.541 0.04330709 2001.491 1112.105 0.04330709 2003.248 1117.318 0.04330709 2003.234 1112.884 0.04330709 2004.984 1113.649 0.04330709 2005.031 1118.081 0.04330709 2006.739 1114.4 0.04330709 2006.819 1118.83 0.04330709 2008.5 1115.138 0.04330709 2008.613 1119.564 0.04330709 2010.267 1115.862 0.04330709 2010.412 1120.285 0.04330709 2012.04 1116.572 0.04330709 2012.218 1120.992 0.04330709 2013.818 1117.268 0.04330709 2014.029 1121.684 0.04330709 2015.602 1117.95 0.04330709 2015.845 1122.362 0.04330709 2017.391 1118.618 0.04330709 2017.666 1123.026 0.04330709 2019.185 1119.271 0.04330709 2019.493 1123.676 0.04330709 2020.984 1119.911 0.04330709 2021.325 1124.311 0.04330709 2022.788 1120.537 0.04330709 2023.161 1124.932 0.04330709 2024.597 1121.148 0.04330709 2025.003 1125.538 0.04330709 2026.411 1121.745 0.04330709 2026.849 1126.13 0.04330709 2028.229 1122.328 0.04330709 2028.7 1126.707 0.04330709 2030.052 1122.897 0.04330709 2030.555 1127.27 0.04330709 2031.879 1123.451 0.04330709 2032.414 1127.818 0.04330709 2033.711 1123.991 0.04330709 2034.278 1128.352 0.04330709 2035.547 1124.517 0.04330709 2036.146 1128.871 0.04330709 2037.387 1125.028 0.04330709 2038.018 1129.375 0.04330709 2039.23 1125.525 0.04330709 2039.894 1129.864 0.04330709 2041.078 1126.007 0.04330709 2041.774 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b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf new file mode 100755 index 000000000..3bbde1bdc --- /dev/null +++ b/CustomRobots/ackermann_cars/models/simple_circuit_harmonic/simple_circuit.sdf @@ -0,0 +1,46 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0 0 1 + 1000 1000 + + + + + 0 0 0 0 0 0 + + + model://simple_circuit_harmonic/meshes/simple_line.dae + 5 5 5 + + + + + + 0 0 0 0 0 0 + + + + model://simple_circuit_harmonic/meshes/wall.dae + 5 5 5 + + + + + 0 0 0 0 0 0 + + + model://simple_circuit_harmonic/meshes/wall.dae + 5 5 5 + + + + + + diff --git a/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf new file mode 100644 index 000000000..a939e8204 --- /dev/null +++ b/CustomRobots/ackermann_cars/worlds/simple_circuit_harmonic.sdf @@ -0,0 +1,115 @@ + + + + + + 0.004 + 1.0 + + + + + + + + + ogre2 + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 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