rwc2024

models/cover/model.sdf

@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0.0 0.0 0 0 0 0</pose>

models/ddw/model.sdf

@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>-0.4 -1.3 0 0 0 0</pose>

models/empty/model.sdf

@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/impuls/model.sdf

@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.882 -0.24 0 0 0 1.57079632679</pose>

models/learn_objects/model.sdf

@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 -1 0 0 0 1.57</pose>

models/perception_learning/model.sdf

@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0.74 0 0 0</pose>
       <name>infinite_table</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/rein_experiment/model.sdf

@@ -42,7 +42,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/rgo2015/model.sdf

@@ -272,7 +272,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.555 1.775 0 0 0 0</pose>

models/rgo2015_final/model.sdf

@@ -176,7 +176,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.555 1.775 0 0 0 0</pose>

models/rgo2017/model.sdf

@@ -160,7 +160,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rgo2018/model.sdf

@@ -197,7 +197,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rgo2019/model.sdf

@@ -139,7 +139,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/robotics_testlab_B/model.sdf

@@ -102,7 +102,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>4.05 2 0 0 0 0</pose>

models/robotics_testlabs/model.sdf

@@ -277,7 +277,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.32 5.3 0 0 0 0</pose>

models/robotics_testlabs/r5cop/model.sdf

@@ -102,7 +102,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/robotics_testlabs_empty/model.sdf

@@ -74,7 +74,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/rosebv/model.sdf

@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>3 0 0 0 0 0</pose>

models/rpo2023/model.sdf

@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <name>bed</name>

models/rwc2013/model.sdf

@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>3.105 -6.331 0 0 0 0</pose>

models/rwc2015/model.sdf

@@ -182,7 +182,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0.925 -4.74 0 0 0 0</pose>

models/rwc2015_empty/model.sdf

@@ -170,7 +170,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>

models/rwc2016a/model.sdf

@@ -251,7 +251,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rwc2016b/model.sdf

@@ -237,7 +237,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rwc2017/model.sdf

@@ -188,7 +188,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>5.075 -4.93 0.0 0 0 0.0</pose>

models/rwc2018/model.sdf

@@ -147,7 +147,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rwc2019/model.sdf

@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>

models/rwc2022/model.sdf

@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>5.61 6.12 0 0 0 0</pose>

models/rwc2023/model.sdf

@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
 
     <!-- bedroom -->

models/rwc2024/coat_hanger/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/coat_hanger</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>[email protected]</email>
+  </author>
+  <description>rwc2024/coat_hanger</description>
+</model>

models/rwc2024/coat_hanger/model.sdf

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="rwc2024/coat_hanger">
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.52</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.52</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.26 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <cylinder>
+            <radius>0.045</radius>
+            <length>1.86</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <cylinder>
+            <radius>0.045</radius>
+            <length>1.86</length>
+          </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.93 0 0 0</pose>
+    </link>
+  </model>
+</sdf>

models/rwc2024/coffee_table/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/coffee_table</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>[email protected]</email>
+  </author>
+  <description>rwc2024/coffee_table</description>
+</model>

models/rwc2024/coffee_table/model.sdf

@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/coffee_table">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+            <cylinder>
+                <radius>0.45</radius>
+                <length>0.08</length>
+            </cylinder>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+            <cylinder>
+                <radius>0.45</radius>
+                <length>0.08</length>
+            </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.45 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <cylinder>
+            <length>0.25</length>
+            <radius>0.44</radius>
+          </cylinder>
+        </geometry>
+      </virtual_volume>
+      <pose>0 0 0.575 0 0 0</pose>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.35 0.01</size>
+          </box>
+        </geometry>
+      </virtual_volume>
+      <pose>-0.9 0. 0.005 0 0 0</pose>
+    </link>
+    <static>true</static>
+
+
+
+  </model>
+</sdf>

models/rwc2024/couch/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/couch</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>[email protected]</email>
+  </author>
+  <description>rwc2024/couch</description>
+</model>