open-rdc · ken222d · Aug 15, 2026 · Jul 10, 2026 · Jul 11, 2026 · Jul 11, 2026
diff --git a/...ar1/meshes/human_robot4_u1_v1_diffuse.png → ...cle/meshes/human_robot4_u1_v1_diffuse.png b/...ar1/meshes/human_robot4_u1_v1_diffuse.png → ...cle/meshes/human_robot4_u1_v1_diffuse.png
diff --git a/...or/models/ai_car1/meshes/human_robot6.dae → .../dynamic_obstacle/meshes/human_robot6.dae b/...or/models/ai_car1/meshes/human_robot6.dae → .../dynamic_obstacle/meshes/human_robot6.dae
diff --git a/simulator/models/dynamic_obstacle/model.config b/simulator/models/dynamic_obstacle/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>human_robot</name>
+  <version>2.0</version>
+  <!-- <sdf version="1.4">model-1_4.sdf</sdf> -->
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Kenta Ishizeki</name>
+    <email>a.w.g.d0201@icloud.com</email>
+  </author>
+
+  <description>
+    dynamic_obstacle
+  </description>
+</model>
diff --git a/...lator/models/ai_car1/dynamic_obstacle.sdf → simulator/models/dynamic_obstacle/model.sdf b/...lator/models/ai_car1/dynamic_obstacle.sdf → simulator/models/dynamic_obstacle/model.sdf
@@ -56,7 +56,7 @@
         <pose>-0.0 0.0 -0.1 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>package://simulator/models/ai_car1/meshes/human_robot6.dae</uri>
+            <uri>package://simulator/models/dynamic_obstacle/meshes/human_robot6.dae</uri>
             <scale>0.2 0.2 0.2</scale>
           </mesh>
         </geometry>
@@ -87,16 +87,6 @@
           <izz>0.07875</izz>
         </inertia>
       </inertial>
-      <visual name='visual'>
-        <geometry>
-        <!--let's add color to our link-->
-        <pose>0 -0 0 1.57  1.57 1.57</pose>
-          <mesh>
-            <uri>package://simulator/models/ai_car1/meshes/tire.dae</uri>
-            <scale>0.05 0.12 0.12</scale>
-          </mesh>
-        </geometry>
-      </visual>
       <collision name='collision'>
         <pose>0 0 0 0 0 0</pose>
 	      <geometry>
@@ -123,16 +113,6 @@
           <izz>0.07875</izz>
         </inertia>
       </inertial>
-      <visual name='visual'>
-        <geometry>
-        <!--let's add color to our link-->
-        <pose>0 -0 0 1.57  1.57 1.57</pose>
-          <mesh>
-            <uri>package://simulator/models/ai_car1/meshes/tire.dae</uri>
-            <scale>0.05 0.12 0.12</scale>
-          </mesh>
-        </geometry>
-      </visual>
       <collision name='collision'>
 	    <pose>0 0.0 0 0 0 0</pose>
         <geometry> 
@@ -163,17 +143,6 @@
           <izz>0.001</izz>
         </inertia>
       </inertial>
-      <visual name='visual'>
-        <geometry>
-        <!--let's add color to our link-->
-        <pose>0 0 0 1.57  1.57 1.57</pose>
-          <mesh>
-            <uri>package://simulator/models/ai_car1/meshes/tire.dae</uri>
-            <scale>0.05 0.12 0.12</scale>
-          </mesh>
-        </geometry>
-      </visual>
-
       <collision name='collision'>
         <geometry>
           <cylinder>  
@@ -197,17 +166,6 @@
           <izz>0.07875</izz>
         </inertia>
       </inertial>
-      <visual name='visual'>
-        <geometry>
-        <!--let's add color to our link-->
-        <pose>0 0 0 1.57 1.57 1.57</pose>
-          <mesh>
-            <uri>package://simulator/models/ai_car1/meshes/tire.dae</uri>
-            <scale>0.05 0.12 0.12</scale>
-          </mesh>
-        </geometry>
-      </visual>
-
       <collision name='collision'>
         <geometry>
           <cylinder>
@@ -315,10 +273,6 @@
         <xyz>0 0 1</xyz>
       </axis>
     </joint>
-
 
-
-
-
   </model>
 </sdf>
diff --git a/simulator/models/panel/meshes/red_panel.dae b/simulator/models/panel/meshes/red_panel.dae
diff --git a/simulator/models/panel/meshes/screen.dae b/simulator/models/panel/meshes/screen.dae
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.5.9 LTS commit date:2026-04-20, commit time:14:24, hash:8bf95cbd38d1</authoring_tool>
+    </contributor>
+    <created>2026-06-17T18:09:17</created>
+    <modified>2026-06-17T18:09:17</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">2097153</mode>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">40</clipend>
+          <radius sid="radius" type="float">0.1</radius>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.800149 0.7789826 0.717452 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="12">-1 -1 0 1 -1 0 -1 1 0 1 1 0</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="6">0 0 1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-map-0">
+          <float_array id="Plane-mesh-map-0-array" count="12">1 0 0 1 0 0 1 0 1 1 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-map-0-array" count="6" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="2">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Plane-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 1 1 3 3 1 4 2 1 5</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">0.5715097 0 0 0 0 -2.0348e-8 -1 -0.2916591 0 0.4655085 -4.37114e-8 0.02216911 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/simulator/models/panel/model.config b/simulator/models/panel/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>panel</name>
+  <version>2.0</version>
+  <!-- <sdf version="1.4">model-1_4.sdf</sdf> -->
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Kenta Ishizeki</name>
+    <email>a.w.g.d0201@icloud.com</email>
+  </author>
+
+  <description>
+    panel
+  </description>
+</model>
diff --git a/simulator/models/panel/model.sdf b/simulator/models/panel/model.sdf
@@ -0,0 +1,72 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="panel">
+    <static>true</static>
+      <link name="panel">
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>package://simulator/models/panel/meshes/red_panel.dae</uri>
+              <scale>0.15 0.15 0.15</scale>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+      <link name="screen">
+        <visual name="screen_visual">
+          <geometry>
+            <mesh>
+              <uri>package://simulator/models/panel/meshes/screen.dae</uri>
+              <scale>0.15 0.15 0.15</scale>
+            </mesh>
+          </geometry>
+            <material>
+                <ambient>1.0 0.0 0.0 1.0</ambient>
+                <diffuse>1.0 0.0 0.0 1.0</diffuse>
+                <specular>1.0 1.0 1.0 1.0</specular>
+                <emissive>1.0 0.0 0.0 1.0</emissive>
+            </material>
+        </visual>
+        <light type="spot" name="led"> 
+            <pose>0 -0.045 0.0 -1.57 0 0</pose> 
+            <diffuse>1.0 0.0 0.0 1.0</diffuse>
+            <specular>1.0 0.0 0.0 1.0</specular>
+            <attenuation>
+                <range>10.0</range>
+                <linear>0.05</linear>
+                <constant>0.01</constant>
+                <quadratic>0.1</quadratic>
+            </attenuation>
+            <spot>
+                <inner_angle>1.0</inner_angle>
+                <outer_angle>1.5</outer_angle>
+                <falloff>1.0</falloff>
+            </spot>
+            <cast_shadows>true</cast_shadows>
+            <visualize>false</visualize>
+        </light>
+      </link>
+      <plugin
+        filename="ColorControl"
+        name="ignition::gazebo::ColorControl">
+        <duration_time>10</duration_time>
+        <robot_name>ai_car1</robot_name>
+        <control_name>screen_visual</control_name>
+        <target_position>80.25 5.0 0.5</target_position>
+        <detection_reaction>5.0</detection_reaction>
+        <color>1.0 0.0 0.0 1.0</color>
+        <color_name>Red</color_name>
+      </plugin>
+      <plugin
+        filename="LightControl"
+        name="ignition::gazebo::LightControl">
+        <duration>10</duration>
+        <robot_name>ai_car1</robot_name>
+        <control_name>led</control_name>
+        <target_position>80.25 5.0 0.5</target_position>
+        <detection_reaction>5.0</detection_reaction>
+        <color>1.0 0.0 0.0 1.0</color>
+        <color_name>Red</color_name>
+      </plugin>
+  </model>
+</sdf>
diff --git a/simulator/package.xml b/simulator/package.xml
@@ -16,6 +16,7 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>ignition-gazebo6</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>