This python script allows to randomly generate cluttered Gazebo worlds. In particular you can select the shapes you want to include and define: min and max dimensions, min and max area for the spawning, number of elements to consider.
- Python3
- pyyaml
In order to run it you simply have to execute the script: generator.py The resulting .world file will be written inside "data" folder.
In order to launch the world from other locations you need the following export:
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:{your_local_path}/world_generator/data
For now the following objects are available:
- Random boxes: boxes with random size, orientation (mass to be added).
- Brick: a brick with 3 holes. It has fixed dimension 0.50x0.15x0.194 and mass 15 Kg.
- WoodenCrateLong: a longer wooden crate with dimension 1.0x0.50x0.50 and mass 50 kg.
- WoodenPlatform: wooden rectangular platform with the following dimension: 1.25x0.50x0.15 with mass 10 Kg.
- WoodenPallet: wooden rectangular pallet with the following dimension: 1.20x0.805x0.165 with mass 100 Kg.
- WoodenCrate: cubic crate with dimensions 0.4x0.4x0.4 and mass 15kg.
- WoodenCrateSmall: cubic crate with dimensions 0.2x0.2x0.2 and mass 10kg.
- WoodCrate4: wooden crate with dimensions 0.75x0.75x0.50 and mass 20 kg.
- Stairs: simple up-down stairs with mass 1000 kg.
- BrickPile: unique mesh of a pile bricks. Its mass is 45 kg,
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