<?xml version="1.0" ?>

<sdf version="1.8">

<world name="sensor_world">

<physics name="1ms" type="ignored">

<max_step_size>0.001</max_step_size>

<real_time_factor>1.0</real_time_factor>

</physics>

<plugin

filename="gz-sim-physics-system"

name="gz::sim::systems::Physics">

</plugin>

<plugin

filename="gz-sim-user-commands-system"

name="gz::sim::systems::UserCommands">

</plugin>

<plugin

filename="gz-sim-scene-broadcaster-system"

name="gz::sim::systems::SceneBroadcaster">

</plugin>

<plugin

filename="gz-sim-imu-system"

name="gz::sim::systems::Imu">

</plugin>

<plugin

filename="gz-sim-sensors-system"

name="gz::sim::systems::Sensors">

<render_engine>ogre2</render_engine>

</plugin>

<plugin

filename="gz-sim-contact-system"

name="gz::sim::systems::Contact">

</plugin>

<gui fullscreen="0">

<!-- 3D scene -->

<plugin filename="MinimalScene" name="3D View">

<gz-gui>

<title>3D View</title>

<property type="bool" key="showTitleBar">false</property>

<property type="string" key="state">docked</property>

</gz-gui>

<engine>ogre2</engine>

<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>-6 0 6 0 0.5 0</camera_pose>

<camera_clip>

<near>0.25</near>

<far>25000</far>

</camera_clip>

</plugin>

<!-- Plugins that add functionality to the scene -->

<plugin filename="EntityContextMenuPlugin" name="Entity context menu">

<gz-gui>

<property key="state" type="string">floating</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="GzSceneManager" name="Scene Manager">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="InteractiveViewControl" name="Interactive view control">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="CameraTracking" name="Camera Tracking">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="MarkerManager" name="Marker manager">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="SelectEntities" name="Select Entities">

<gz-gui>

<anchors target="Select entities">

<line own="right" target="right"/>

<line own="top" target="top"/>

</anchors>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="Spawn" name="Spawn Entities">

<gz-gui>

<anchors target="Select entities">

<line own="right" target="right"/>

<line own="top" target="top"/>

</anchors>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<!-- World control -->

<plugin filename="WorldControl" name="World control">

<gz-gui>

<title>World control</title>

<property type="bool" key="showTitleBar">false</property>

<property type="bool" key="resizable">false</property>

<property type="double" key="height">72</property>

<property type="double" key="width">121</property>

<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>

<anchors target="3D View">

<line own="left" target="left"/>

<line own="bottom" target="bottom"/>

</anchors>

</gz-gui>

<play_pause>true</play_pause>

<step>true</step>

<start_paused>true</start_paused>

<use_event>true</use_event>

</plugin>

<!-- World statistics -->

<plugin filename="WorldStats" name="World stats">

<gz-gui>

<title>World stats</title>

<property type="bool" key="showTitleBar">false</property>

<property type="bool" key="resizable">false</property>

<property type="double" key="height">110</property>

<property type="double" key="width">290</property>

<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>

<anchors target="3D View">

<line own="right" target="right"/>

<line own="bottom" target="bottom"/>

</anchors>

</gz-gui>

<sim_time>true</sim_time>

<real_time>true</real_time>

<real_time_factor>true</real_time_factor>

<iterations>true</iterations>

</plugin>

<!-- Insert simple shapes -->

<plugin filename="Shapes" name="Shapes">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="x" type="double">0</property>

<property key="y" type="double">0</property>

<property key="width" type="double">250</property>

<property key="height" type="double">50</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

<property key="cardBackground" type="string">#666666</property>

</gz-gui>

</plugin>

<!-- Insert lights -->

<plugin filename="Lights" name="Lights">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="x" type="double">250</property>

<property key="y" type="double">0</property>

<property key="width" type="double">150</property>

<property key="height" type="double">50</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

<property key="cardBackground" type="string">#666666</property>

</gz-gui>

</plugin>

<!-- Translate / rotate -->

<plugin filename="TransformControl" name="Transform control">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="x" type="double">0</property>

<property key="y" type="double">50</property>

<property key="width" type="double">250</property>

<property key="height" type="double">50</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

<property key="cardBackground" type="string">#777777</property>

</gz-gui>

</plugin>

<!-- Screenshot -->

<plugin filename="Screenshot" name="Screenshot">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="x" type="double">250</property>

<property key="y" type="double">50</property>

<property key="width" type="double">50</property>

<property key="height" type="double">50</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

<property key="cardBackground" type="string">#777777</property>

</gz-gui>

</plugin>

<!-- Video recorder -->

<plugin filename="VideoRecorder" name="VideoRecorder">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="x" type="double">300</property>

<property key="y" type="double">50</property>

<property key="width" type="double">50</property>

<property key="height" type="double">50</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

<property key="cardBackground" type="string">#777777</property>

</gz-gui>

<record_video>

<use_sim_time>true</use_sim_time>

<lockstep>false</lockstep>

<bitrate>4000000</bitrate>

</record_video>

</plugin>

<!-- Inspector -->

<plugin filename="ComponentInspector" name="Component inspector">

<gz-gui>

<property type="string" key="state">docked_collapsed</property>

</gz-gui>

</plugin>

<!-- Entity tree -->

<plugin filename="EntityTree" name="Entity tree">

<gz-gui>

<property type="string" key="state">docked_collapsed</property>

</gz-gui>

</plugin>

<!-- View angle -->

<plugin filename="ViewAngle" name="View angle">

<gz-gui>

<property type="string" key="state">docked_collapsed</property>

</gz-gui>

</plugin>

<!-- KeyPublisher plugin-->

<plugin filename="KeyPublisher" name="Key Publisher"/>

</gui>

<light type="directional" name="sun">

<cast_shadows>true</cast_shadows>

<pose>0 0 10 0 0 0</pose>

<diffuse>0.8 0.8 0.8 1</diffuse>

<specular>0.2 0.2 0.2 1</specular>

<attenuation>

<range>1000</range>

<constant>0.9</constant>

<linear>0.01</linear>

<quadratic>0.001</quadratic>

</attenuation>

<direction>-0.5 0.1 -0.9</direction>

</light>

<model name="ground_plane">

<static>true</static>

<link name="link">

<collision name="collision">

<geometry>

<plane>

<normal>0 0 1</normal>

</plane>

</geometry>

</collision>

<visual name="visual">

<geometry>

<plane>

<normal>0 0 1</normal>

<size>100 100</size>

</plane>

</geometry>

<material>

<ambient>0.8 0.8 0.8 1</ambient>

<diffuse>0.8 0.8 0.8 1</diffuse>

<specular>0.8 0.8 0.8 1</specular>

</material>

</visual>

</link>

</model>

<model name='vehicle_blue' canonical_link='chassis'>

<pose relative_to='world'>0 0 1 0 0 0</pose> <!--the pose is relative to the world by default-->

<frame name="lidar_frame" attached_to='chassis'>

<pose>0.8 0 0.5 0 0 0</pose>

</frame>

<link name='chassis'>

<pose relative_to='__model__'>0.5 0 0.4 0 0 0</pose>

<inertial> <!--inertial properties of the link mass, inertia matix-->

<mass>1.14395</mass>

<inertia>

<ixx>0.126164</ixx>

<ixy>0</ixy>

<ixz>0</ixz>

<iyy>0.416519</iyy>

<iyz>0</iyz>

<izz>0.481014</izz>

</inertia>

</inertial>

<visual name='visual'>

<geometry>

<box>

<size>2.0 1.0 0.5</size> <!--question: this size is in meter-->

</box>

</geometry>

<!--let's add color to our link-->

<material>

<ambient>0.0 0.0 1.0 1</ambient>

<diffuse>0.0 0.0 1.0 1</diffuse>

<specular>0.0 0.0 1.0 1</specular>

</material>

</visual>

<collision name='collision'> <!--todo: describe why we need the collision-->

<geometry>

<box>

<size>2.0 1.0 0.5</size>

</box>

</geometry>

</collision>

<sensor name="imu_sensor" type="imu">

<always_on>1</always_on>

<update_rate>1</update_rate>

<visualize>true</visualize>

<topic>imu</topic>

</sensor>

<sensor name='gpu_lidar' type='gpu_lidar'>"

<pose relative_to='lidar_frame'>0 0 0 0 0 0</pose>

<topic>lidar</topic>

<update_rate>10</update_rate>

<ray>

<scan>

<horizontal>

<samples>640</samples>

<resolution>1</resolution>

<min_angle>-1.396263</min_angle>

<max_angle>1.396263</max_angle>

</horizontal>

<vertical>

<samples>1</samples>

<resolution>0.01</resolution>

<min_angle>0</min_angle>

<max_angle>0</max_angle>

</vertical>

</scan>

<range>

<min>0.08</min>

<max>10.0</max>

<resolution>0.01</resolution>

</range>

</ray>

<always_on>1</always_on>

<visualize>true</visualize>

</sensor>

</link>

<!--let's build the left wheel-->

<link name='left_wheel'>

<pose relative_to="chassis">-0.5 0.6 0 -1.5707 0 0</pose> <!--angles are in radian-->

<inertial>

<mass>2</mass>

<inertia>

<ixx>0.145833</ixx>

<ixy>0</ixy>

<ixz>0</ixz>

<iyy>0.145833</iyy>

<iyz>0</iyz>

<izz>0.125</izz>

</inertia>

</inertial>

<visual name='visual'>

<geometry>

<cylinder>

<radius>0.4</radius>

<length>0.2</length>

</cylinder>

</geometry>

<material>

<ambient>1.0 0.0 0.0 1</ambient>

<diffuse>1.0 0.0 0.0 1</diffuse>

<specular>1.0 0.0 0.0 1</specular>

</material>

</visual>

<collision name='collision'>

<geometry>

<cylinder>

<radius>0.4</radius>

<length>0.2</length>

</cylinder>

</geometry>

</collision>

</link>

<!--copy and paste for right wheel but change position-->

<link name='right_wheel'>

<pose relative_to="chassis">-0.5 -0.6 0 -1.5707 0 0</pose> <!--angles are in radian-->

<inertial>

<mass>1</mass>

<inertia>

<ixx>0.145833</ixx>

<ixy>0</ixy>

<ixz>0</ixz>

<iyy>0.145833</iyy>

<iyz>0</iyz>

<izz>0.125</izz>

</inertia>

</inertial>

<visual name='visual'>

<geometry>

<cylinder>

<radius>0.4</radius>

<length>0.2</length>

</cylinder>

</geometry>

<material>

<ambient>1.0 0.0 0.0 1</ambient>

<diffuse>1.0 0.0 0.0 1</diffuse>

<specular>1.0 0.0 0.0 1</specular>

</material>

</visual>

<collision name='collision'>

<geometry>

<cylinder>

<radius>0.4</radius>

<length>0.2</length>

</cylinder>

</geometry>

</collision>

</link>

<frame name="caster_frame" attached_to='chassis'>

<pose>0.8 0 -0.2 0 0 0</pose>

</frame>

<!--caster wheel-->

<link name='caster'>

<pose relative_to='caster_frame'/>

<inertial>

<mass>1</mass>

<inertia>

<ixx>0.1</ixx>

<ixy>0</ixy>

<ixz>0</ixz>

<iyy>0.1</iyy>

<iyz>0</iyz>

<izz>0.1</izz>

</inertia>

</inertial>

<visual name='visual'>

<geometry>

<sphere>

<radius>0.2</radius>

</sphere>

</geometry>

<material>

<ambient>0.0 1 0.0 1</ambient>

<diffuse>0.0 1 0.0 1</diffuse>

<specular>0.0 1 0.0 1</specular>

</material>

</visual>

<collision name='collision'>

<geometry>

<sphere>

<radius>0.2</radius>

</sphere>

</geometry>

</collision>

</link>

<!--connecting these links together using joints-->

<joint name='left_wheel_joint' type='revolute'> <!--continous joint is not supported yet-->

<pose relative_to='left_wheel'/>

<parent>chassis</parent>

<child>left_wheel</child>

<axis>

<xyz expressed_in='__model__'>0 1 0</xyz> <!--can be descired to any frame or even arbitrary frames-->

<limit>

<lower>-1.79769e+308</lower> <!--negative infinity-->

<upper>1.79769e+308</upper> <!--positive infinity-->

</limit>

</axis>

</joint>

<joint name='right_wheel_joint' type='revolute'>

<pose relative_to='right_wheel'/>

<parent>chassis</parent>

<child>right_wheel</child>

<axis>

<xyz expressed_in='__model__'>0 1 0</xyz>

<limit>

<lower>-1.79769e+308</lower> <!--negative infinity-->

<upper>1.79769e+308</upper> <!--positive infinity-->

</limit>

</axis>

</joint>

<!--different type of joints ball joint--> <!--defult value is the child-->

<joint name='caster_wheel' type='ball'>

<parent>chassis</parent>

<child>caster</child>

</joint>

<!--diff drive plugin-->

<plugin

filename="gz-sim-diff-drive-system"

name="gz::sim::systems::DiffDrive">

<left_joint>left_wheel_joint</left_joint>

<right_joint>right_wheel_joint</right_joint>

<wheel_separation>1.2</wheel_separation>

<wheel_radius>0.4</wheel_radius>

<odom_publish_frequency>1</odom_publish_frequency>

<topic>cmd_vel</topic>

</plugin>

</model>

<!--wall-->

<model name='wall'>

<static>true</static>

<pose>5 0 0 0 0 0</pose><!--pose relative to the world-->

<link name='box'>

<pose/>

<inertial> <!--inertial properties of the link mass, inertia matix-->

<mass>1.14395</mass>

<inertia>

<ixx>9.532917</ixx>

<ixy>0</ixy>

<ixz>0</ixz>

<iyy>0.023832</iyy>

<iyz>0</iyz>

<izz>9.556749</izz>

</inertia>

</inertial>

<visual name='visual'>

<geometry>

<box>

<size>0.5 10.0 2.0</size>

</box>

</geometry>

<!--let's add color to our link-->

<material>

<ambient>0.0 0.0 1.0 1</ambient>

<diffuse>0.0 0.0 1.0 1</diffuse>

<specular>0.0 0.0 1.0 1</specular>

</material>

</visual>

<collision name='collision'> <!--todo: describe why we need the collision-->

<geometry>

<box>

<size>0.5 10.0 2.0</size>

</box>

</geometry>

</collision>

<sensor name='sensor_contact' type='contact'>

<contact>

<collision>collision</collision>

</contact>

</sensor>

</link>

<plugin filename="gz-sim-touchplugin-system"

name="gz::sim::systems::TouchPlugin">

<target>vehicle_blue</target>

<namespace>wall</namespace>

<time>0.001</time>

<enabled>true</enabled>

</plugin>

</model>

<!-- Moving Left-->

<plugin filename="gz-sim-triggered-publisher-system"

name="gz::sim::systems::TriggeredPublisher">

<input type="gz.msgs.Int32" topic="/keyboard/keypress">

<match field="data">16777234</match>

</input>

<output type="gz.msgs.Twist" topic="/cmd_vel">

linear: {x: 0.0}, angular: {z: 0.5}

</output>

</plugin>

<!-- Moving Forward-->

<plugin filename="gz-sim-triggered-publisher-system"

name="gz::sim::systems::TriggeredPublisher">

<input type="gz.msgs.Int32" topic="/keyboard/keypress">

<match field="data">16777235</match>

</input>

<output type="gz.msgs.Twist" topic="/cmd_vel">

linear: {x: 0.5}, angular: {z: 0.0}

</output>

</plugin>

<!-- Moving Right-->

<plugin filename="gz-sim-triggered-publisher-system"

name="gz::sim::systems::TriggeredPublisher">

<input type="gz.msgs.Int32" topic="/keyboard/keypress">

<match field="data">16777236</match>

</input>

<output type="gz.msgs.Twist" topic="/cmd_vel">

linear: {x: 0.0}, angular: {z: -0.5}

</output>

</plugin>

<!-- Moving Backward-->

<plugin filename="gz-sim-triggered-publisher-system"

name="gz::sim::systems::TriggeredPublisher">

<input type="gz.msgs.Int32" topic="/keyboard/keypress">

<match field="data">16777237</match>

</input>

<output type="gz.msgs.Twist" topic="/cmd_vel">

linear: {x: -0.5}, angular: {z: 0.0}

</output>

</plugin>

<!--stop when hit the wall-->

<plugin filename="gz-sim-triggered-publisher-system"

name="gz::sim::systems::TriggeredPublisher">

<input type="gz.msgs.Boolean" topic="/wall/touched">

<match>data: true</match>

</input>

<output type="gz.msgs.Twist" topic="/cmd_vel">

linear: {x: 0.0}, angular: {z: 0.0}

</output>

</plugin>

</world>

</sdf>