DAVE Worlds

How to migrate a world to Harmonic (without Plugins)

1. Understanding URIs in SDF Files

URIs in SDF files are used to reference external resources like meshes and models. Ensure that URIs are defined in a way that is compatible with both simulators. We can Fuel, for example.

Recommended URI Usage:

• Gazebo Fuel URLs: Use URLs from Gazebo Fuel to ensure compatibility across both simulators.

  <sdf version="1.7">
    <world name="demo">
      <include>
        <uri><https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun></uri>
      </include>
      <include>
        <uri><https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground> Plane</uri>
      </include>
    </world>
  </sdf>
  

  2. Materials and Textures

  Materials and textures can be handled differently between simulators (https://gazebosim.org/api/sim/8/migrationsdf.html)

  Materials

  Solid Colors: Convert OGRE materials to Gazebo-compatible materials using <ambient>, <diffuse>, <specular>, and <emissive> tags.

  <material>
    <ambient>1 0 0 1</ambient>
    <diffuse>1 0 0 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
  </material>
  

  Textures

  Embedded Textures: Use formats like OBJ + MTL or COLLADA to embed textures in mesh files.

  <material>
    <pbr>
      <metal>
        <albedo_map>texture.png</albedo_map>
      </metal>
    </pbr>
  </material>
  

  Case study

  (going to include a example case of a dave world which uses ocean —> how can we migrate ocean model?)