diff --git a/models/optical_flow/model.config b/models/optical_flow/model.config new file mode 100644 index 00000000..304e8668 --- /dev/null +++ b/models/optical_flow/model.config @@ -0,0 +1,11 @@ + + + optical_flow + 1.0 + model.sdf + + Jacob Dahl + jake@arkelectron.com + + Optical Flow + diff --git a/models/optical_flow/model.sdf b/models/optical_flow/model.sdf new file mode 100644 index 00000000..017eaff5 --- /dev/null +++ b/models/optical_flow/model.sdf @@ -0,0 +1,79 @@ + + + + 0 0 0 0 0 0 + false + false + + + 0 0 -0.005 0 0 0 + 0.050 + + 0.00004 + 0 + 0 + 0.00004 + 0 + 0.00004 + + + + + + 0.034 0.034 0.01 + + + + 0.1 0.1 0.1 1 + 0.1 0.1 0.1 1 + 0.01 0.01 0.01 1 + + + + 0 0 -0.005 0 0 0 + + + 0.006 + 0.005 + + + + + 0 0 -0.0075 0 0 0 + + + 0.0059 + + + + .4 .4 .5 .95 + .4 .4 .5 .95 + 1 1 1 1 + 0 0 0 1 + + + + 0 0 0 0 1.5707 0 + + 0.733038 + + 100 + 100 + + + 0.1 + 30 + + + 1 + 50 + true + + + 1 + 50 + true + + + + diff --git a/models/x500_flow/model.config b/models/x500_flow/model.config new file mode 100644 index 00000000..164fd23b --- /dev/null +++ b/models/x500_flow/model.config @@ -0,0 +1,11 @@ + + + x500_flow + 1.0 + model.sdf + + Jacob Dahl + jake@arkelectron.com + + An x500 with distance sesnor and camera for optical flow + diff --git a/models/x500_flow/model.sdf b/models/x500_flow/model.sdf new file mode 100644 index 00000000..f5113f2e --- /dev/null +++ b/models/x500_flow/model.sdf @@ -0,0 +1,72 @@ + + + + false + + x500 + + + model://optical_flow + 0.03 0 -0.1 0 0 0 + + + model://LW20 + 0 0 -0.079 0 1.57 0 + + + base_link + flow_link + 0 0 -0.1 0 1.5707 0 + + + base_link + lw20_link + -0 0 0 0 0 0 + + + base_link + lidar_sensor_link + + + 0 0 -0.05 0 1.57 0 + + 0.001 + + 0.00001 + 0.00001 + 0.00001 + 0.0 + 0.0 + 0.0 + + + + 0 0 0 3.14 0 0 + 50 + + + + 1 + 1 + 0 + 0 + + + 1 + 1 + 0 + 0 + + + + 0.1 + 100.0 + 0.01 + + + 1 + true + + + + diff --git a/worlds/forest.sdf b/worlds/forest.sdf new file mode 100644 index 00000000..78d133e1 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