From 3f385a009b7d747676a5664a48749c9644338b23 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 15 Jun 2021 12:39:58 +0200
Subject: [PATCH] Copy tx2 auto model from f1tenth repo

---
 models/tx2-auto-3.model | 184 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 184 insertions(+)
 create mode 100644 models/tx2-auto-3.model

diff --git a/models/tx2-auto-3.model b/models/tx2-auto-3.model
new file mode 100644
index 0000000..1f5a6e5
--- /dev/null
+++ b/models/tx2-auto-3.model
@@ -0,0 +1,184 @@
+# Stage simulator model of 'tx2-auto-3'
+# Author: Jaroslav Klapálek
+
+# Sensors (lidar)
+define ust10lx ranger
+(
+	sensor(
+		range [ 0.0  10.0 ]
+		fov 270.0
+		samples 3243
+	)
+
+	color "orange"
+)
+
+# Sensors (camera)
+define simcam camera
+(
+	resolution [ 640 480 ]
+	range [ 0.2 40.0 ]
+	fov [ 69.0 42.0 ]
+	pantilt [ 0.0 0.0 ]
+
+	color "grey"
+)
+
+define car position
+(
+	size [0.565 0.29 0.175]
+	origin [-0.165 0 0 0]
+	gui_nose 1
+
+	# model (tx2-auto-3)
+	block
+	(
+		points 12
+		point[0] [16.43 7.25]
+		point[1] [16.43 9.71]
+		point[2] [14 12.76]
+		point[3] [14 16.25]
+		point[4] [16.43 19.29]
+		point[5] [16.43 21.75]
+		point[6] [36.63 21.75]
+		point[7] [39.35 17.86]
+		point[8] [45 16.59]
+		point[9] [45 12.41]
+		point[10] [39.35 11.14]
+		point[11] [36.63 7.25]
+		z [1 8.5]
+	)
+
+	# Kola LZ
+	block
+	(
+		points 4
+		point[0] [7.5 0]
+		point[1] [7.5 6]
+		point[2] [18 6]
+		point[3] [18 0]
+		z [0 10.5]
+		color "black"
+	)
+
+	# Kola PZ
+	block
+	(
+		points 4
+		point[0] [7.5 23]
+		point[1] [7.5 29]
+		point[2] [18 29]
+		point[3] [18 23]
+		z [0 10.5]
+		color "black"
+	)
+
+	# Kola PP
+	block
+	(
+		points 4
+		point[0] [39.5 23]
+		point[1] [39.5 29]
+		point[2] [50 29]
+		point[3] [50 23]
+		z [0 10.5]
+		color "black"
+	)
+
+	# Kola LP
+	block
+	(
+		points 4
+		point[0] [39.5 0]
+		point[1] [39.5 6]
+		point[2] [50 6]
+		point[3] [50 0]
+		z [0 10.5]
+		color "black"
+	)
+
+	# Predni naraznik
+	block
+	(
+		points 4
+		point[0] [54.5 4.75]
+		point[1] [54.5 24.25]
+		point[2] [56.5 24.25]
+		point[3] [56.5 4.75]
+		z [9 12]
+		color "black"
+	)
+
+	# Zadni naraznik
+	block
+	(
+		points 4
+		point[0] [0 6]
+		point[1] [0 23]
+		point[2] [0.5 23]
+		point[3] [0.5 6]
+		z [9 12]
+		color "black"
+	)
+
+	# Podstavec lidaru (pod nim)
+	block
+	(
+		points 4
+		point[0] [28.5 12]
+		point[1] [28.5 17]
+		point[2] [33.5 17]
+		point[3] [33.5 12]
+		z [8.5 10.5]
+		color "blue"
+	)
+
+	# Podstavec lidaru (cast lidaru)
+	block
+	(
+		points 4
+		point[0] [28.5 12]
+		point[1] [28.5 17]
+		point[2] [33.5 17]
+		point[3] [33.5 12]
+		z [10.5 14]
+		color "black"
+	)
+
+	# lidar
+	block
+	(
+		points 4
+		point[0] [28.5 12]
+		point[1] [28.5 17]
+		point[2] [33.5 17]
+		point[3] [33.5 12]
+		z [14 17.5]
+		color "orange"
+	)
+
+	drive "car"
+	wheelbase 0.32
+	localization "gps"
+	# gps = absolute
+	# odom = relative
+
+	# LiDAR
+	# pozice v metrech, musi se pripocitat i posun stredu otaceni
+	# a pocatecni poloha
+	ust10lx ( pose [ -0.12 0 0.1575 0 ] size [ 0.05 0.05 0.035 ] )
+
+	# Camera
+	simcam ( pose [ -0.1375 0 0.175 0 ] size [ 0.025 0.09 0.025 ] )
+
+	stack_children 0
+
+	# Omezeni na rychlost
+	# Pokud neni uvedeno, je to +-1 na xyz, +-90 na a.
+	# min, max
+	# x - dopredna rychlost
+	# y - lateralni rychlost (pro auto muze byt 0)
+	# z - taky 0
+	# a - zataceni (ve stupnich)
+	velocity_bounds [ -33 33 0 0 0 0 -90 90 ]
+)
-- 
2.39.2