From 87eadd6985ac495ef9bc431559015bc6f74c66c8 Mon Sep 17 00:00:00 2001
From: Munir Azme <munir.azme@elementrobotics.space>
Date: Wed, 9 Apr 2025 11:52:56 +1000
Subject: [PATCH] Added world assets for lunarsim (#38).

---
 .gitattributes                                |   2 +
 .../dem/Shoemaker_final_adj_5mpp_surf_1k.tif  |   3 +
 .../Shoemaker_final_adj_5mpp_surf_2048.tif    |   3 +
 .../moon_dem/materials/textures/Earth.jpg     |   3 +
 ...oemaker_final_adj_5mpp_surf_1k_normals.png |   3 +
 ...maker_final_adj_5mpp_surf_2048_normals.png |   3 +
 .../moon_dem/materials/textures/SunOpaque.png |   3 +
 .../materials/textures/SunOpaque_Emissive.png |   3 +
 .../materials/textures/TerrainNew_Albedo.jpg  |   3 +
 .../textures/combined_normal_map_2048.png     |   3 +
 .../materials/textures/moon_diffuse.png       |   3 +
 .../materials/textures/moon_normal.png        |   3 +
 .../models/moon_dem/meshes/Earth.dae          |   3 +
 .../models/moon_dem/meshes/Stars.dae          |   3 +
 .../models/moon_dem/meshes/Sun.dae            |   3 +
 .../models/moon_dem/model.config              |  14 +
 .../lunar_terrain/models/moon_dem/model.sdf   |  91 +++++++
 .../models/moon_dem/thumbnails/1.png          |   3 +
 models/lunar_terrain/world/dem_moon.sdf       | 241 ++++++++++++++++++
 .../world/materials/textures/SunOpaque.png    |   3 +
 .../materials/textures/SunOpaque_Emissive.png |   3 +
 models/lunar_terrain/world/meshes/Sun.dae     |   3 +
 22 files changed, 402 insertions(+)
 create mode 100644 models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_1k.tif
 create mode 100644 models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_2048.tif
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/Earth.jpg
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_1k_normals.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_2048_normals.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque_Emissive.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/TerrainNew_Albedo.jpg
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/combined_normal_map_2048.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/moon_diffuse.png
 create mode 100644 models/lunar_terrain/models/moon_dem/materials/textures/moon_normal.png
 create mode 100644 models/lunar_terrain/models/moon_dem/meshes/Earth.dae
 create mode 100644 models/lunar_terrain/models/moon_dem/meshes/Stars.dae
 create mode 100644 models/lunar_terrain/models/moon_dem/meshes/Sun.dae
 create mode 100644 models/lunar_terrain/models/moon_dem/model.config
 create mode 100644 models/lunar_terrain/models/moon_dem/model.sdf
 create mode 100644 models/lunar_terrain/models/moon_dem/thumbnails/1.png
 create mode 100644 models/lunar_terrain/world/dem_moon.sdf
 create mode 100644 models/lunar_terrain/world/materials/textures/SunOpaque.png
 create mode 100644 models/lunar_terrain/world/materials/textures/SunOpaque_Emissive.png
 create mode 100644 models/lunar_terrain/world/meshes/Sun.dae

diff --git a/.gitattributes b/.gitattributes
index f6ec59e..cc361d4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,3 +1,5 @@
 *.dae filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
+*.tif filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
diff --git a/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_1k.tif b/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_1k.tif
new file mode 100644
index 0000000..254933d
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_1k.tif
@@ -0,0 +1,3 @@
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diff --git a/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_2048.tif b/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_2048.tif
new file mode 100644
index 0000000..710ee06
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/dem/Shoemaker_final_adj_5mpp_surf_2048.tif
@@ -0,0 +1,3 @@
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/Earth.jpg b/models/lunar_terrain/models/moon_dem/materials/textures/Earth.jpg
new file mode 100644
index 0000000..67dac54
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/materials/textures/Earth.jpg
@@ -0,0 +1,3 @@
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_1k_normals.png b/models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_1k_normals.png
new file mode 100644
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_2048_normals.png b/models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_2048_normals.png
new file mode 100644
index 0000000..96474c3
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/materials/textures/Shoemaker_final_adj_5mpp_surf_2048_normals.png
@@ -0,0 +1,3 @@
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque.png b/models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque.png
new file mode 100644
index 0000000..b127112
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque.png
@@ -0,0 +1,3 @@
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque_Emissive.png b/models/lunar_terrain/models/moon_dem/materials/textures/SunOpaque_Emissive.png
new file mode 100644
index 0000000..caf893a
--- /dev/null
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new file mode 100644
index 0000000..badec89
--- /dev/null
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/combined_normal_map_2048.png b/models/lunar_terrain/models/moon_dem/materials/textures/combined_normal_map_2048.png
new file mode 100644
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/moon_diffuse.png b/models/lunar_terrain/models/moon_dem/materials/textures/moon_diffuse.png
new file mode 100644
index 0000000..9c5b70b
--- /dev/null
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diff --git a/models/lunar_terrain/models/moon_dem/materials/textures/moon_normal.png b/models/lunar_terrain/models/moon_dem/materials/textures/moon_normal.png
new file mode 100644
index 0000000..1f60157
--- /dev/null
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diff --git a/models/lunar_terrain/models/moon_dem/meshes/Earth.dae b/models/lunar_terrain/models/moon_dem/meshes/Earth.dae
new file mode 100644
index 0000000..00b34c1
--- /dev/null
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diff --git a/models/lunar_terrain/models/moon_dem/meshes/Stars.dae b/models/lunar_terrain/models/moon_dem/meshes/Stars.dae
new file mode 100644
index 0000000..a46b502
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/meshes/Stars.dae
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diff --git a/models/lunar_terrain/models/moon_dem/meshes/Sun.dae b/models/lunar_terrain/models/moon_dem/meshes/Sun.dae
new file mode 100644
index 0000000..97ec345
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/meshes/Sun.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/models/lunar_terrain/models/moon_dem/model.config b/models/lunar_terrain/models/moon_dem/model.config
new file mode 100644
index 0000000..947afde
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<model>
+  <name>Moon</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+
+  <author>
+    <name>Open Robotics</name>
+  </author>
+
+  <description>
+    Earth's moon
+  </description>
+</model>
diff --git a/models/lunar_terrain/models/moon_dem/model.sdf b/models/lunar_terrain/models/moon_dem/model.sdf
new file mode 100644
index 0000000..38f0c15
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/model.sdf
@@ -0,0 +1,91 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <model name="moon">
+    <static>true</static>
+    <pose>0 0 0 0 0 0</pose>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <heightmap>
+            <uri>dem/Shoemaker_final_adj_5mpp_surf_2048.tif</uri>
+            <size>20000 20000 1789</size>
+            <pos>0 0 0</pos>
+            <material>
+              <friction>
+                <ode>
+                  <mu>0.8</mu>  <!-- Static friction coefficient -->
+                  <mu2>0.6</mu2> <!-- Sliding friction coefficient -->
+                </ode>
+              </friction>
+            </material>
+          </heightmap>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <heightmap>
+            <use_terrain_paging>false</use_terrain_paging>
+            <texture>
+              <diffuse>materials/textures/moon_diffuse.png</diffuse>
+              <normal>materials/textures/combined_normal_map_2048.png</normal>
+              <size>20000  20000 1789</size>
+            </texture>
+            <uri>dem/Shoemaker_final_adj_5mpp_surf_2048.tif</uri>
+            <size>20000  20000 1789</size>
+            <pos>0 0 0</pos>
+            <material>
+              <specular>0.01 0.01 0.01 1</specular>
+              <diffuse>0.8 0.8 0.8 1</diffuse>
+              <ambient>0.7 0.7 0.7 1</ambient>
+              <emissive>0 0 0 1</emissive>
+              <roughness>0.9</roughness>
+            </material>
+          </heightmap>
+        </geometry>
+      </visual>
+    </link>
+
+
+
+    <link name="stars">
+      <pose>0 0 0 0 0 0</pose>
+      <visual name="stars">
+        <geometry>
+          <mesh>
+            <uri>meshes/Stars.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name="earth">
+      <pose>0 0 10000 0 0 0</pose>
+      <visual name="earth">
+        <geometry>
+          <mesh>
+            <uri>meshes/Earth.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/Earth.jpg</albedo_map>
+              <emissive_map>materials/textures/Earth.jpg</emissive_map>
+              <metalness>0</metalness>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+    </link>
+
+  </model>
+</sdf>
+
+
+
diff --git a/models/lunar_terrain/models/moon_dem/thumbnails/1.png b/models/lunar_terrain/models/moon_dem/thumbnails/1.png
new file mode 100644
index 0000000..a5fc6e7
--- /dev/null
+++ b/models/lunar_terrain/models/moon_dem/thumbnails/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a739387f8630e1800e7d44aff60ebf2f499ba715dbea17dc81c87e1f7f4c20
+size 1782940
diff --git a/models/lunar_terrain/world/dem_moon.sdf b/models/lunar_terrain/world/dem_moon.sdf
new file mode 100644
index 0000000..bfbb2af
--- /dev/null
+++ b/models/lunar_terrain/world/dem_moon.sdf
@@ -0,0 +1,241 @@
+<?xml version="1.0" ?>
+<!--
+
+  Moon world containing craters generated by an LRO heightmap as well as sun, moon, and stars models
+
+-->
+<sdf version="1.9">
+
+  <world name="dem_heightmap">
+
+    <spherical_coordinates>
+      <surface_model>MOON_SCS</surface_model>
+    </spherical_coordinates>
+
+    <!-- gravity of the moon -->
+    <gravity>0 0 -1.62</gravity>
+
+    <physics name="1ms" type="ignored">
+      <dart>
+        <!-- Heightmaps behave better with the bullet collision detector -->
+        <collision_detector>bullet</collision_detector>
+      </dart>
+    </physics>
+
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system">
+    </plugin>
+
+    <scene>
+      <ambient>0.1 0.1 0.1 1.0</ambient>
+      <background>0.0 0.0 0.0 1.0</background>
+      <grid>false</grid>
+    </scene>
+
+
+    <gui fullscreen="0">
+      <!-- Sun and Earth models won't display correctly without this plugin -->
+      <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>0.0 0.0 0.0</ambient_light>
+        <background_color>0.0 0.0 0.0</background_color>
+        <camera_pose>-1.378 2.46 550.6 -0.024 -0.055 -0.39</camera_pose>
+        <camera_clip>
+          <near>0.25</near>
+          <far>1000000</far>
+        </camera_clip>
+      </plugin>
+
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-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>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <use_event>true</use_event>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-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>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+
+      <plugin filename="ComponentInspector" name="Component inspector">
+        <ignition-gui>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+      </plugin>
+
+      <plugin filename="EntityTree" name="Entity tree">
+        <ignition-gui>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+      </plugin>
+    </gui>
+
+    <light type="directional" name="sunlight">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 5000 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.05 0.05 0.05 1</specular>
+      <direction>-1 0.0 -0.4</direction>
+      <visualize>false</visualize>
+      <view_gizmo>1</view_gizmo>
+      <frame>animated_sun</frame>
+    </light>
+
+
+    <actor name="animated_sun">
+      <plugin name="LunarSun" filename="liblunar_sun_gz_plugin.so"/>
+
+
+      <link name="sun">
+        <visual name="sun">
+          <geometry>
+            <mesh>
+              <uri>meshes/Sun.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <diffuse>1.0 1.0 1.0</diffuse>
+            <specular>1.0 1.0 1.0</specular>
+            <pbr>
+              <metal>
+                <albedo_map>materials/textures/SunOpaque.png</albedo_map>
+                <emissive_map>materials/textures/SunOpaque_Emissive.png</emissive_map>
+              </metal>
+            </pbr>
+          </material>
+        </visual>
+
+      </link>
+
+      <script>
+        <loop>true</loop>
+        <delay_start>0.000000</delay_start>
+        <auto_start>true</auto_start>
+        <trajectory id="0" type="square">
+            <waypoint>
+              <time>0.0</time>
+              <pose>0 0 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>1.0</time>
+              <pose>0 20 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>2.0</time>
+              <pose>0 30 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>3.0</time>
+              <pose>0 40 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>4.0</time>
+              <pose>0 50 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>5.0</time>
+              <pose>0 40 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>6.0</time>
+              <pose>0 30 600 0 0 0</pose>
+            </waypoint>
+            <waypoint>
+              <time>7.0</time>
+              <pose>0 0 600 0 0 0</pose>
+            </waypoint>
+        </trajectory>
+      </script>
+
+
+    </actor>
+
+
+    <include>
+      <uri>moon_dem</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/models/lunar_terrain/world/materials/textures/SunOpaque.png b/models/lunar_terrain/world/materials/textures/SunOpaque.png
new file mode 100644
index 0000000..b127112
--- /dev/null
+++ b/models/lunar_terrain/world/materials/textures/SunOpaque.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c0a48dee81838d75a03fc6c3928d9400af7f1e564890003d570e9d4f29d61f
+size 1691092
diff --git a/models/lunar_terrain/world/materials/textures/SunOpaque_Emissive.png b/models/lunar_terrain/world/materials/textures/SunOpaque_Emissive.png
new file mode 100644
index 0000000..caf893a
--- /dev/null
+++ b/models/lunar_terrain/world/materials/textures/SunOpaque_Emissive.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07774341f85339e85a19d2d262873081eeef83919456d4b4f1731db98d1052e8
+size 1249199
diff --git a/models/lunar_terrain/world/meshes/Sun.dae b/models/lunar_terrain/world/meshes/Sun.dae
new file mode 100644
index 0000000..97ec345
--- /dev/null
+++ b/models/lunar_terrain/world/meshes/Sun.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044d14f0b18e608b0dec2c98178a5793f1e4c804630c5424813570eebed0130a
+size 6228