diff --git a/.gitignore b/.gitignore
index 91a4b99..f650625 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@
 .rover
 .docker_home/
 .ros/
+__pycache__/
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 1f9873c..bc7ec0c 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -52,7 +52,7 @@ the commit messages in the branch (recommended, not checked).
   | `revert` | revert of a previous change |
 
 - **scope** (optional) — the part of the project, lower case: a package without the `kpi_rover_` prefix
-  (`hw`, `description`, `bringup`, `localization`, `slam`), `nav`, `sim`, `docker`, `rover` (rover.sh),
+  (`hw`, `description`, `bringup`, `localization`, `slam`, `worlds`), `nav`, `sim`, `docker`, `rover` (rover.sh),
   `rpi-setup`, or the name of an application in `src/apps/`.
 - **description** — in English, imperative mood, lower case first letter, no period at the end:
   "add", not "added" or "adds".
diff --git a/README.md b/README.md
index 78cf3a6..87ba8f4 100644
--- a/README.md
+++ b/README.md
@@ -61,6 +61,7 @@ maintainers and runs on every robot after boot.
 | `kpi_rover_localization` | EKF (`robot_localization`): fuses wheel odometry and IMU |
 | `kpi_rover_slam` | `slam_toolbox`: builds the map from the lidar and localizes the robot on it |
 | `kpi_rover_bringup` | launch files and configs: `robot.launch.py` (real robot), `sim.launch.py` (Gazebo), Nav2, lidar, joystick |
+| `kpi_rover_worlds` | Gazebo worlds for the simulation, configurable ones with their arguments, start points and previews. Not installed on the robot |
 
 **`src/apps/`** is for applications. An application does not drive motors or read sensors directly: it uses
 the platform topics, actions and services (`/cmd_vel`, Nav2, `/scan`, `/map`, ...), so the same application
@@ -159,6 +160,21 @@ source install/setup.bash
 ros2 launch kpi_rover_bringup sim.launch.py
 ```
 
+**Worlds.** `world:=` takes a world of `kpi_rover_worlds` by name (`room` by default) or a path to a world file,
+`start:=` puts the robot at one of the start points of the world instead of `x_pose`/`y_pose`. A configurable world
+(`garden`, `maze`, `overpass`, `test_square`) given by name has its default arguments; with other ones, build it first:
+```bash
+python3 -m kpi_rover_worlds.world_info          # worlds, their arguments and defaults
+ros2 launch kpi_rover_bringup sim.launch.py world:=garden start:=road_a
+ros2 launch kpi_rover_bringup sim.launch.py start:=a \
+  world:=$(python3 -m kpi_rover_worlds.world_info --build test_square floor:=asphalt marking:=yellow)
+```
+A world is a directory `worlds/<name>/` of `kpi_rover_worlds`: the world file, its manifest `<name>.yaml` and
+its previews.
+`sim.launch.py` is `world.launch.py` (Gazebo with the world) and `sim_robot.launch.py` (the simulated robot with the
+same localization, SLAM and navigation as the real one) together, with RViz and joystick teleop; tools such as the
+GUI start them one by one.
+
 Keyboard control (second zellij pane):
 ```bash
 ros2 run teleop_twist_keyboard teleop_twist_keyboard \
diff --git a/docker/Dockerfile b/docker/Dockerfile
index c293b37..a3242df 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -71,9 +71,12 @@ CMD ["zellij"]
 FROM ros:${ROS_DISTRO}-ros-base AS build-deps
 ARG SIM_ONLY_KEYS
 COPY --from=manifests /src /tmp/src
-RUN apt-get update && \
+# kpi_rover_worlds is built, but its tools (world generation, previews) are not run on the robot:
+# their dependencies (numpy, scipy, PIL, Gazebo) are not installed.
+RUN rm -rf /tmp/src/platform/kpi_rover_worlds && \
+    apt-get update && \
     rosdep update --rosdistro "$ROS_DISTRO" && \
-    rosdep install --from-paths /tmp/src --ignore-src -y --skip-keys "$SIM_ONLY_KEYS" && \
+    rosdep install --from-paths /tmp/src --ignore-src -y --skip-keys "$SIM_ONLY_KEYS kpi_rover_worlds" && \
     rm -rf /var/lib/apt/lists/* /tmp/src
 
 
diff --git a/src/platform/kpi_rover_bringup/CMakeLists.txt b/src/platform/kpi_rover_bringup/CMakeLists.txt
index cd8bf6e..b009743 100644
--- a/src/platform/kpi_rover_bringup/CMakeLists.txt
+++ b/src/platform/kpi_rover_bringup/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch config rviz worlds
+  DIRECTORY launch config rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/src/platform/kpi_rover_bringup/launch/sim.launch.py b/src/platform/kpi_rover_bringup/launch/sim.launch.py
index 2c8fe61..68175ce 100644
--- a/src/platform/kpi_rover_bringup/launch/sim.launch.py
+++ b/src/platform/kpi_rover_bringup/launch/sim.launch.py
@@ -1,168 +1,52 @@
 from launch import LaunchDescription
-from launch.actions import (
-    AppendEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler)
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, SetLaunchConfiguration
 from launch.conditions import IfCondition
-from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
-from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
+from kpi_rover_worlds import world_info
+
+
+def start_pose(context):
+    cfg = context.launch_configurations
+    if not cfg['start']:
+        return []
+    world = world_info.build(cfg['world'], {})
+    x, y, z, yaw = world_info.start_pose(world, cfg['start'])
+    # 3 cm above the start point, so the robot drops onto uneven ground instead of into it
+    pose = zip(('x_pose', 'y_pose', 'z_pose', 'yaw_pose'), (x, y, z + 0.03, yaw))
+    return [SetLaunchConfiguration('world', world)] + [SetLaunchConfiguration(k, str(v)) for k, v in pose]
+
 
 def generate_launch_description():
     pkg_bringup = FindPackageShare('kpi_rover_bringup')
-    pkg_description = FindPackageShare('kpi_rover_description')
-    pkg_ros_gz_sim = FindPackageShare('ros_gz_sim')
 
-    world = LaunchConfiguration('world')
-    wheel_radius = LaunchConfiguration('wheel_radius')
-    x_pose = LaunchConfiguration('x_pose')
-    y_pose = LaunchConfiguration('y_pose')
-    z_pose = LaunchConfiguration('z_pose')
-    gui = LaunchConfiguration('gui')
     rviz = LaunchConfiguration('rviz')
 
     declared_arguments = [
         DeclareLaunchArgument(
-            'world',
-            default_value=PathJoinSubstitution([pkg_bringup, 'worlds', 'room.world']),
-            description='Path to the Gazebo world file'),
-        DeclareLaunchArgument(
-            'wheel_radius', default_value='0.034',
-            description='Wheel radius in meters'),
-        DeclareLaunchArgument('x_pose', default_value='0.0', description='Spawn X position'),
-        DeclareLaunchArgument('y_pose', default_value='0.0', description='Spawn Y position'),
-        DeclareLaunchArgument('z_pose', default_value='0.1', description='Spawn Z position'),
+            'world', default_value='room',
+            description='World of kpi_rover_worlds (python3 -m kpi_rover_worlds.world_info) or path to a world file'),
         DeclareLaunchArgument(
-            'gui', default_value='true',
-            description='Start the Gazebo GUI (otherwise headless server only)'),
+            'start', default_value='',
+            description='Start point of the world to spawn the robot at, instead of the pose'),
         DeclareLaunchArgument(
             'rviz', default_value='true',
             description='Start RViz2'),
-        DeclareLaunchArgument(
-            'slam', default_value='true',
-            description='Start slam_toolbox'),
-        DeclareLaunchArgument(
-            'nav', default_value='true',
-            description='Start Nav2 (handles the RViz 2D Goal Pose)'),
         DeclareLaunchArgument(
             'teleop', default_value='true',
             description='Start joystick teleop'),
     ]
 
-    # Lets Gazebo resolve model://kpi_rover_description/meshes/...
-    gz_resource_path = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH',
-        PathJoinSubstitution([pkg_description, '..']),
-    )
-
-    # '-s' runs the server only (headless)
-    gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'])),
-        launch_arguments={
-            'gz_args': [
-                '-r -v3 ',
-                PythonExpression(["'' if '", gui, "' == 'true' else '-s '"]),
-                world,
-            ],
-            'on_exit_shutdown': 'true',
-        }.items(),
-    )
-
-    # robot_state_publisher with the sim_mode URDF (gz_ros2_control plugin)
-    description = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([pkg_description, 'launch', 'description.launch.py'])),
-        launch_arguments={
-            'use_sim_time': 'true',
-            'sim_mode': 'true',
-            'wheel_radius': wheel_radius,
-        }.items(),
-    )
-
-    spawn_robot = Node(
-        package='ros_gz_sim',
-        executable='create',
-        arguments=[
-            '-name', 'kpi_rover',
-            '-topic', 'robot_description',
-            '-x', x_pose,
-            '-y', y_pose,
-            '-z', z_pose,
-        ],
-        output='screen',
-    )
-
-    gz_bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        parameters=[{
-            'config_file': PathJoinSubstitution([pkg_bringup, 'config', 'gz_bridge.yaml']),
-        }],
-        output='screen',
-    )
-
-    joint_state_broadcaster = Node(
-        package='controller_manager',
-        executable='spawner',
-        arguments=['joint_state_broadcaster', '--switch-timeout', '60'],
-        output='screen',
-    )
-
-    diff_drive_controller = Node(
-        package='controller_manager',
-        executable='spawner',
-        arguments=[
-            'diff_drive_controller',
-            '--switch-timeout', '60',
-            '--controller-ros-args', '-r /diff_drive_controller/odom:=/odom',
-        ],
-        output='screen',
-    )
-
-    # The controller manager only runs once the robot model is in the world
-    spawn_controllers = RegisterEventHandler(OnProcessExit(
-        target_action=spawn_robot,
-        on_exit=[joint_state_broadcaster, diff_drive_controller],
-    ))
-
-    # Turns unstamped /cmd_vel (Nav2, teleop_twist_keyboard) into the stamped input of the controller
-    twist_stamper = Node(
-        package='twist_stamper',
-        executable='twist_stamper',
-        parameters=[{'use_sim_time': True, 'frame_id': 'base_link'}],
-        remappings=[
-            ('cmd_vel_in', '/cmd_vel'),
-            ('cmd_vel_out', '/diff_drive_controller/cmd_vel'),
-        ],
-        output='screen',
-    )
-
-    localization = IncludeLaunchDescription(
+    world = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                FindPackageShare('kpi_rover_localization'), 'launch', 'localization.launch.py'])),
-        launch_arguments={'use_sim_time': 'true'}.items(),
-    )
-
-    slam = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                FindPackageShare('kpi_rover_slam'), 'launch', 'slam.launch.py'])),
-        launch_arguments={'use_sim_time': 'true'}.items(),
-        condition=IfCondition(LaunchConfiguration('slam')),
+            PathJoinSubstitution([pkg_bringup, 'launch', 'world.launch.py'])),
     )
 
-    navigation = IncludeLaunchDescription(
+    robot = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                FindPackageShare('nav2_bringup'), 'launch', 'navigation_launch.py'])),
-        launch_arguments={
-            'use_sim_time': 'true',
-            'params_file': PathJoinSubstitution([pkg_bringup, 'config', 'navigation.yaml']),
-        }.items(),
-        condition=IfCondition(LaunchConfiguration('nav')),
+            PathJoinSubstitution([pkg_bringup, 'launch', 'sim_robot.launch.py'])),
     )
 
     teleop = IncludeLaunchDescription(
@@ -180,16 +64,9 @@ def generate_launch_description():
     )
 
     return LaunchDescription(declared_arguments + [
-        gz_resource_path,
-        gazebo,
-        description,
-        spawn_robot,
-        gz_bridge,
-        spawn_controllers,
-        twist_stamper,
-        localization,
-        slam,
-        navigation,
+        OpaqueFunction(function=start_pose),
+        world,
+        robot,
         teleop,
         rviz_launch,
     ])
diff --git a/src/platform/kpi_rover_bringup/launch/sim_robot.launch.py b/src/platform/kpi_rover_bringup/launch/sim_robot.launch.py
new file mode 100644
index 0000000..03c484c
--- /dev/null
+++ b/src/platform/kpi_rover_bringup/launch/sim_robot.launch.py
@@ -0,0 +1,142 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    pkg_bringup = FindPackageShare('kpi_rover_bringup')
+    pkg_description = FindPackageShare('kpi_rover_description')
+
+    wheel_radius = LaunchConfiguration('wheel_radius')
+    x_pose = LaunchConfiguration('x_pose')
+    y_pose = LaunchConfiguration('y_pose')
+    z_pose = LaunchConfiguration('z_pose')
+    yaw_pose = LaunchConfiguration('yaw_pose')
+
+    declared_arguments = [
+        DeclareLaunchArgument(
+            'wheel_radius', default_value='0.034',
+            description='Wheel radius in meters'),
+        DeclareLaunchArgument('x_pose', default_value='0.0', description='Spawn X position'),
+        DeclareLaunchArgument('y_pose', default_value='0.0', description='Spawn Y position'),
+        DeclareLaunchArgument('z_pose', default_value='0.1', description='Spawn Z position'),
+        DeclareLaunchArgument('yaw_pose', default_value='0.0', description='Spawn yaw, rad'),
+        DeclareLaunchArgument(
+            'slam', default_value='true',
+            description='Start slam_toolbox'),
+        DeclareLaunchArgument(
+            'nav', default_value='true',
+            description='Start Nav2 (handles the RViz 2D Goal Pose)'),
+    ]
+
+    # robot_state_publisher with the sim_mode URDF (gz_ros2_control plugin)
+    description = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([pkg_description, 'launch', 'description.launch.py'])),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'sim_mode': 'true',
+            'wheel_radius': wheel_radius,
+        }.items(),
+    )
+
+    spawn_robot = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-name', 'kpi_rover',
+            '-topic', 'robot_description',
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', z_pose,
+            '-Y', yaw_pose,
+        ],
+        output='screen',
+    )
+
+    gz_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[{
+            'config_file': PathJoinSubstitution([pkg_bringup, 'config', 'gz_bridge.yaml']),
+        }],
+        output='screen',
+    )
+
+    joint_state_broadcaster = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=['joint_state_broadcaster', '--switch-timeout', '60'],
+        output='screen',
+    )
+
+    diff_drive_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'diff_drive_controller',
+            '--switch-timeout', '60',
+            '--controller-ros-args', '-r /diff_drive_controller/odom:=/odom',
+        ],
+        output='screen',
+    )
+
+    # The controller manager only runs once the robot model is in the world
+    spawn_controllers = RegisterEventHandler(OnProcessExit(
+        target_action=spawn_robot,
+        on_exit=[joint_state_broadcaster, diff_drive_controller],
+    ))
+
+    # Turns unstamped /cmd_vel (Nav2, teleop_twist_keyboard) into the stamped input of the controller
+    twist_stamper = Node(
+        package='twist_stamper',
+        executable='twist_stamper',
+        parameters=[{'use_sim_time': True, 'frame_id': 'base_link'}],
+        remappings=[
+            ('cmd_vel_in', '/cmd_vel'),
+            ('cmd_vel_out', '/diff_drive_controller/cmd_vel'),
+        ],
+        output='screen',
+    )
+
+    localization = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('kpi_rover_localization'), 'launch', 'localization.launch.py'])),
+        launch_arguments={'use_sim_time': 'true'}.items(),
+    )
+
+    slam = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('kpi_rover_slam'), 'launch', 'slam.launch.py'])),
+        launch_arguments={'use_sim_time': 'true'}.items(),
+        condition=IfCondition(LaunchConfiguration('slam')),
+    )
+
+    navigation = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare('nav2_bringup'), 'launch', 'navigation_launch.py'])),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'params_file': PathJoinSubstitution([pkg_bringup, 'config', 'navigation.yaml']),
+        }.items(),
+        condition=IfCondition(LaunchConfiguration('nav')),
+    )
+
+    return LaunchDescription(declared_arguments + [
+        description,
+        spawn_robot,
+        gz_bridge,
+        spawn_controllers,
+        twist_stamper,
+        localization,
+        slam,
+        navigation,
+    ])
diff --git a/src/platform/kpi_rover_bringup/launch/world.launch.py b/src/platform/kpi_rover_bringup/launch/world.launch.py
new file mode 100644
index 0000000..ebcaaf1
--- /dev/null
+++ b/src/platform/kpi_rover_bringup/launch/world.launch.py
@@ -0,0 +1,55 @@
+from launch import LaunchDescription
+from launch.actions import (
+    AppendEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, SetLaunchConfiguration)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
+from launch_ros.substitutions import FindPackageShare
+
+from kpi_rover_worlds import world_info
+
+
+def world_file(context):
+    return [SetLaunchConfiguration('world', world_info.build(context.launch_configurations['world'], {}))]
+
+
+def generate_launch_description():
+    pkg_description = FindPackageShare('kpi_rover_description')
+    pkg_ros_gz_sim = FindPackageShare('ros_gz_sim')
+
+    world = LaunchConfiguration('world')
+    gui = LaunchConfiguration('gui')
+
+    declared_arguments = [
+        DeclareLaunchArgument(
+            'world', default_value='room',
+            description='World of kpi_rover_worlds (python3 -m kpi_rover_worlds.world_info) or path to a world file'),
+        DeclareLaunchArgument(
+            'gui', default_value='true',
+            description='Start the Gazebo GUI (otherwise headless server only)'),
+    ]
+
+    # Lets Gazebo resolve model://kpi_rover_description/meshes/...
+    gz_resource_path = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        PathJoinSubstitution([pkg_description, '..']),
+    )
+
+    # '-s' runs the server only (headless)
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'])),
+        launch_arguments={
+            'gz_args': [
+                '-r -v3 ',
+                PythonExpression(["'' if '", gui, "' == 'true' else '-s '"]),
+                world,
+            ],
+            'on_exit_shutdown': 'true',
+        }.items(),
+    )
+
+    return LaunchDescription(declared_arguments + [
+        gz_resource_path,
+        OpaqueFunction(function=world_file),
+        gazebo,
+    ])
diff --git a/src/platform/kpi_rover_bringup/package.xml b/src/platform/kpi_rover_bringup/package.xml
index 5ae7aee..2570034 100644
--- a/src/platform/kpi_rover_bringup/package.xml
+++ b/src/platform/kpi_rover_bringup/package.xml
@@ -14,6 +14,7 @@
 
   <exec_depend>kpi_rover_hw</exec_depend>
   <exec_depend>kpi_rover_description</exec_depend>
+  <exec_depend>kpi_rover_worlds</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/src/platform/kpi_rover_description/urdf/camera.xacro b/src/platform/kpi_rover_description/urdf/camera.xacro
index 4bcf874..37be21a 100644
--- a/src/platform/kpi_rover_description/urdf/camera.xacro
+++ b/src/platform/kpi_rover_description/urdf/camera.xacro
@@ -40,6 +40,8 @@
           <camera name="intel_realsense_r200">
             <camera_info_topic>camera/camera_info</camera_info_topic>
             <horizontal_fov>1.02974</horizontal_fov>
+            <!-- Hide world visuals meant only for the Gazebo GUI (bit 1, see kpi_rover_worlds/common/python/sdf.py) -->
+            <visibility_mask>4294967293</visibility_mask>
             <image>
               <width>1920</width>
               <height>1080</height>
diff --git a/src/platform/kpi_rover_description/urdf/lidar.xacro b/src/platform/kpi_rover_description/urdf/lidar.xacro
index 957c077..c1c4be7 100644
--- a/src/platform/kpi_rover_description/urdf/lidar.xacro
+++ b/src/platform/kpi_rover_description/urdf/lidar.xacro
@@ -65,6 +65,12 @@
                 <stddev>0.01</stddev>
             </noise>
             <frame_id>laser_frame</frame_id>
+            <!--
+              Hide world visuals meant only for the Gazebo GUI (bit 1) and
+              visuals the lidar must not see, such as grass (bit 2); see
+              kpi_rover_worlds/common/python/sdf.py.
+            -->
+            <visibility_mask>4294967289</visibility_mask>
         </lidar>
         <always_on>1</always_on>
         <visualize>true</visualize>
diff --git a/src/platform/kpi_rover_worlds/CMakeLists.txt b/src/platform/kpi_rover_worlds/CMakeLists.txt
new file mode 100644
index 0000000..d63039f
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(kpi_rover_worlds)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+# Python module kpi_rover_worlds: world_info and the helpers of the world generators
+ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR common/python)
+
+install(DIRECTORY
+  worlds
+  assets
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN __pycache__ EXCLUDE
+)
+install(DIRECTORY
+  common/config
+  DESTINATION share/${PROJECT_NAME}/common
+)
+
+# ros2 run kpi_rover_worlds render_previews.py | spawn_object.py
+install(PROGRAMS
+  tools/render_previews.py
+  tools/spawn_object.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/flat_board.obj b/src/platform/kpi_rover_worlds/assets/meshes/flat_board.obj
new file mode 100644
index 0000000..2f4551d
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/flat_board.obj
@@ -0,0 +1,61 @@
+# Flat board, generated by gen_media.py
+v -0.25000 -0.04500 0.01800
+v 0.25000 -0.04500 0.01800
+v 0.25000 0.04500 0.01800
+v -0.25000 0.04500 0.01800
+vt -0.50000 -0.09000
+vt 0.50000 -0.09000
+vt 0.50000 0.09000
+vt -0.50000 0.09000
+vn 0.0 0.0 1.0
+v -0.25000 0.04500 0.00000
+v 0.25000 0.04500 0.00000
+v 0.25000 -0.04500 0.00000
+v -0.25000 -0.04500 0.00000
+vt -0.50000 0.09000
+vt 0.50000 0.09000
+vt 0.50000 -0.09000
+vt -0.50000 -0.09000
+vn 0.0 0.0 -1.0
+v 0.25000 -0.04500 0.00000
+v 0.25000 0.04500 0.00000
+v 0.25000 0.04500 0.01800
+v 0.25000 -0.04500 0.01800
+vt -0.09000 0.00000
+vt 0.09000 0.00000
+vt 0.09000 0.03600
+vt -0.09000 0.03600
+vn 1.0 0.0 0.0
+v -0.25000 0.04500 0.00000
+v -0.25000 -0.04500 0.00000
+v -0.25000 -0.04500 0.01800
+v -0.25000 0.04500 0.01800
+vt 0.09000 0.00000
+vt -0.09000 0.00000
+vt -0.09000 0.03600
+vt 0.09000 0.03600
+vn -1.0 0.0 0.0
+v 0.25000 0.04500 0.00000
+v -0.25000 0.04500 0.00000
+v -0.25000 0.04500 0.01800
+v 0.25000 0.04500 0.01800
+vt 0.50000 0.00000
+vt -0.50000 0.00000
+vt -0.50000 0.03600
+vt 0.50000 0.03600
+vn 0.0 1.0 0.0
+v -0.25000 -0.04500 0.00000
+v 0.25000 -0.04500 0.00000
+v 0.25000 -0.04500 0.01800
+v -0.25000 -0.04500 0.01800
+vt -0.50000 0.00000
+vt 0.50000 0.00000
+vt 0.50000 0.03600
+vt -0.50000 0.03600
+vn 0.0 -1.0 0.0
+f 1/1/1 2/2/1 3/3/1 4/4/1
+f 5/5/2 6/6/2 7/7/2 8/8/2
+f 9/9/3 10/10/3 11/11/3 12/12/3
+f 13/13/4 14/14/4 15/15/4 16/16/4
+f 17/17/5 18/18/5 19/19/5 20/20/5
+f 21/21/6 22/22/6 23/23/6 24/24/6
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/miter_end_left.obj b/src/platform/kpi_rover_worlds/assets/meshes/miter_end_left.obj
new file mode 100644
index 0000000..de3a4bf
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/miter_end_left.obj
@@ -0,0 +1,9 @@
+# Marking line miter, generated by gen_media.py
+v 0 -0.5 1
+v 1 -0.5 1
+v 0 0.5 1
+vt 1.0 0.0
+vt 1.0 0.25
+vt 0.0 0.0
+vn 0 0 1
+f 1/1/1 2/2/1 3/3/1
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/miter_end_right.obj b/src/platform/kpi_rover_worlds/assets/meshes/miter_end_right.obj
new file mode 100644
index 0000000..b4e7e1e
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/miter_end_right.obj
@@ -0,0 +1,9 @@
+# Marking line miter, generated by gen_media.py
+v 0 -0.5 1
+v 1 0.5 1
+v 0 0.5 1
+vt 1.0 0.0
+vt 0.0 0.25
+vt 0.0 0.0
+vn 0 0 1
+f 1/1/1 2/2/1 3/3/1
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/miter_start_left.obj b/src/platform/kpi_rover_worlds/assets/meshes/miter_start_left.obj
new file mode 100644
index 0000000..375b2a4
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/miter_start_left.obj
@@ -0,0 +1,9 @@
+# Marking line miter, generated by gen_media.py
+v -1 -0.5 1
+v 0 -0.5 1
+v 0 0.5 1
+vt 1.0 0.75
+vt 1.0 1.0
+vt 0.0 1.0
+vn 0 0 1
+f 1/1/1 2/2/1 3/3/1
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/miter_start_right.obj b/src/platform/kpi_rover_worlds/assets/meshes/miter_start_right.obj
new file mode 100644
index 0000000..ea816b9
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/miter_start_right.obj
@@ -0,0 +1,9 @@
+# Marking line miter, generated by gen_media.py
+v -1 0.5 1
+v 0 -0.5 1
+v 0 0.5 1
+vt 0.0 0.75
+vt 1.0 1.0
+vt 0.0 1.0
+vn 0 0 1
+f 1/1/1 2/2/1 3/3/1
diff --git a/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.4_h0.45_d1.4_t0.05_s12.obj b/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.4_h0.45_d1.4_t0.05_s12.obj
new file mode 100644
index 0000000..9faf264
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.4_h0.45_d1.4_t0.05_s12.obj
@@ -0,0 +1,5071 @@
+# Overpass body, generated by gen_media.py
+v -4.025507 -0.200000 0.000000
+v -3.956226 -0.200000 0.000482
+v -3.956226 0.200000 0.000482
+v -4.025507 0.200000 0.000000
+v -4.025507 -0.200000 0.000000
+v -3.956226 -0.200000 0.000000
+v -3.956226 -0.200000 0.000482
+v -4.025507 -0.200000 0.000000
+v -4.025507 0.200000 0.000000
+v -4.025507 0.200000 0.000000
+v -3.956226 0.200000 0.000482
+v -3.956226 0.200000 0.000000
+v -4.025507 -0.200000 0.000000
+v -4.025507 0.200000 0.000000
+v -3.956226 0.200000 0.000000
+v -3.956226 -0.200000 0.000000
+v -3.956226 -0.200000 0.000482
+v -3.886944 -0.200000 0.001925
+v -3.886944 0.200000 0.001925
+v -3.956226 0.200000 0.000482
+v -3.956226 -0.200000 0.000000
+v -3.886944 -0.200000 0.000000
+v -3.886944 -0.200000 0.001925
+v -3.956226 -0.200000 0.000482
+v -3.956226 0.200000 0.000000
+v -3.956226 0.200000 0.000482
+v -3.886944 0.200000 0.001925
+v -3.886944 0.200000 0.000000
+v -3.956226 -0.200000 0.000000
+v -3.956226 0.200000 0.000000
+v -3.886944 0.200000 0.000000
+v -3.886944 -0.200000 0.000000
+v -3.886944 -0.200000 0.001925
+v -3.817663 -0.200000 0.004323
+v -3.817663 0.200000 0.004323
+v -3.886944 0.200000 0.001925
+v -3.886944 -0.200000 0.000000
+v -3.817663 -0.200000 0.000000
+v -3.817663 -0.200000 0.004323
+v -3.886944 -0.200000 0.001925
+v -3.886944 0.200000 0.000000
+v -3.886944 0.200000 0.001925
+v -3.817663 0.200000 0.004323
+v -3.817663 0.200000 0.000000
+v -3.886944 -0.200000 0.000000
+v -3.886944 0.200000 0.000000
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+v -3.817663 -0.200000 0.000000
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+v -3.748381 -0.200000 0.007667
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+v -3.817663 0.200000 0.004323
+v -3.817663 -0.200000 0.000000
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diff --git a/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.7_h0.45_d1.4_t0.05_s12.obj b/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.7_h0.45_d1.4_t0.05_s12.obj
new file mode 100644
index 0000000..d3b5f09
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/overpass_w0.7_h0.45_d1.4_t0.05_s12.obj
@@ -0,0 +1,5071 @@
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diff --git a/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_30.obj b/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_30.obj
new file mode 100644
index 0000000..3b58b9d
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_30.obj
@@ -0,0 +1,815 @@
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diff --git a/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_45.obj b/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_45.obj
new file mode 100644
index 0000000..630fbac
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/meshes/traffic_cone_45.obj
@@ -0,0 +1,815 @@
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+f 39/39/39 40/40/40 41/41/41 42/42/42
+f 43/43/43 44/44/44 45/45/45
+f 46/46/46 47/47/47 48/48/48 49/49/49
+f 50/50/50 51/51/51 52/52/52
+f 53/53/53 54/54/54 55/55/55 56/56/56
+f 57/57/57 58/58/58 59/59/59
+f 60/60/60 61/61/61 62/62/62 63/63/63
+f 64/64/64 65/65/65 66/66/66
+f 67/67/67 68/68/68 69/69/69 70/70/70
+f 71/71/71 72/72/72 73/73/73
+f 74/74/74 75/75/75 76/76/76 77/77/77
+f 78/78/78 79/79/79 80/80/80
+f 81/81/81 82/82/82 83/83/83 84/84/84
+f 85/85/85 86/86/86 87/87/87
+f 88/88/88 89/89/89 90/90/90 91/91/91
+f 92/92/92 93/93/93 94/94/94
+f 95/95/95 96/96/96 97/97/97 98/98/98
+f 99/99/99 100/100/100 101/101/101
+f 102/102/102 103/103/103 104/104/104 105/105/105
+f 106/106/106 107/107/107 108/108/108
+f 109/109/109 110/110/110 111/111/111 112/112/112
+f 113/113/113 114/114/114 115/115/115
+f 116/116/116 117/117/117 118/118/118 119/119/119
+f 120/120/120 121/121/121 122/122/122
+f 123/123/123 124/124/124 125/125/125 126/126/126
+f 127/127/127 128/128/128 129/129/129
+f 130/130/130 131/131/131 132/132/132 133/133/133
+f 134/134/134 135/135/135 136/136/136
+f 137/137/137 138/138/138 139/139/139 140/140/140
+f 141/141/141 142/142/142 143/143/143
+f 144/144/144 145/145/145 146/146/146 147/147/147
+f 148/148/148 149/149/149 150/150/150
+f 151/151/151 152/152/152 153/153/153 154/154/154
+f 155/155/155 156/156/156 157/157/157
+f 158/158/158 159/159/159 160/160/160 161/161/161
+f 162/162/162 163/163/163 164/164/164
+f 165/165/165 166/166/166 167/167/167 168/168/168
+f 169/169/169 170/170/170 171/171/171
+f 172/172/172 173/173/173 174/174/174 175/175/175
+f 176/176/176 177/177/177 178/178/178
+f 179/179/179 180/180/180 181/181/181 182/182/182
+f 183/183/183 184/184/184 185/185/185
+f 186/186/186 187/187/187 188/188/188 189/189/189
+f 190/190/190 191/191/191 192/192/192
+f 193/193/193 194/194/194 195/195/195 196/196/196
+f 197/197/197 198/198/198 199/199/199
+f 200/200/200 201/201/201 202/202/202 203/203/203
+f 204/204/204 205/205/205 206/206/206
+f 207/207/207 208/208/208 209/209/209 210/210/210
+f 211/211/211 212/212/212 213/213/213
+f 214/214/214 215/215/215 216/216/216 217/217/217
+f 218/218/218 219/219/219 220/220/220
+f 221/221/221 222/222/222 223/223/223 224/224/224
+f 225/225/225 226/226/226 227/227/227
+f 228/228/228 229/229/229 230/230/230 231/231/231
+f 232/232/232 233/233/233 234/234/234
+f 235/235/235 236/236/236 237/237/237 238/238/238
+f 239/239/239 240/240/240 241/241/241
+f 242/242/242 243/243/243 244/244/244 245/245/245
+f 246/246/246 247/247/247 248/248/248
diff --git a/src/platform/kpi_rover_worlds/assets/models/CREDITS.md b/src/platform/kpi_rover_worlds/assets/models/CREDITS.md
new file mode 100644
index 0000000..3507c13
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/CREDITS.md
@@ -0,0 +1,20 @@
+# Model credits
+
+Models from [Poly Haven](https://polyhaven.com), licensed [CC0](https://polyhaven.com/license), textures reduced to 512 px.
+
+| Model | Authors |
+|---|---|
+| [cardboard_box_01](https://polyhaven.com/a/cardboard_box_01) | Rahul Chaudhary |
+| [plastic_crate_02](https://polyhaven.com/a/plastic_crate_02) | Fabi_G |
+| [metal_toolbox](https://polyhaven.com/a/metal_toolbox) | Mateusz Sadek |
+| [wooden_crate_01](https://polyhaven.com/a/wooden_crate_01) | James Ray Cock |
+| [wooden_bucket_01](https://polyhaven.com/a/wooden_bucket_01) | James Ray Cock |
+| [old_tyre](https://polyhaven.com/a/old_tyre) | MP |
+| [cement_bag](https://polyhaven.com/a/cement_bag) | PierreB3D |
+| [medical_box](https://polyhaven.com/a/medical_box) | Ulan Cabanilla |
+| [can_rusted](https://polyhaven.com/a/can_rusted) | Rahul Chaudhary |
+| [oil_tin](https://polyhaven.com/a/oil_tin) | Niklas |
+| [grass_medium_01](https://polyhaven.com/a/grass_medium_01) (grass cards) | Rob Tuytel, Rico Cilliers |
+| [grass_medium_02](https://polyhaven.com/a/grass_medium_02) (grass cards) | Rico Cilliers |
+| [grass_bermuda_01](https://polyhaven.com/a/grass_bermuda_01) (grass cards) | Rico Cilliers |
+| [island_tree_02](https://polyhaven.com/a/island_tree_02) (leaves) | Rob Tuytel, Rico Cilliers |
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_leaves.yaml b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_leaves.yaml
new file mode 100644
index 0000000..1582b03
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_leaves.yaml
@@ -0,0 +1,2 @@
+# Leaf cards of apple_1, written by tools/assets/convert_trees.py: centers and half-axes, real m.
+{centers: [[0.2441, 0.3465, 1.4464], [0.413, 0.3425, 1.732], [0.2584, 0.2843, 2.048], [0.4159, 0.5678, 2.0273], [0.4079, 0.4757, 2.3148], [0.3096, 0.6153, 2.5845], [0.5815, 0.3137, 1.5318], [0.4489, 0.118, 1.7121], [0.6501, 0.2403, 1.789], [0.6287, -0.0331, 1.7986], [0.8721, 0.0859, 1.7882], [0.7109, 0.0858, 1.9928], [0.8111, -0.1596, 1.9576], [0.9547, 0.0682, 2.0933], [1.0021, -0.1895, 2.1535], [0.9079, -0.0064, 2.3576], [0.7465, 0.5309, 1.5814], [0.5786, 0.6216, 1.7948], [0.8415, 0.4935, 1.8409], [0.7447, 0.6487, 1.9499], [0.9539, 0.634, 1.8792], [1.1292, 0.6836, 2.1899], [0.6893, 0.2474, 1.8227], [0.6301, 0.5035, 1.9155], [0.493, 0.211, 1.9774], [0.5671, 0.2428, 2.2292], [0.5149, 0.4006, 2.373], [0.6714, 0.2364, 2.4667], [0.4761, 0.3048, 2.6095], [0.8764, 0.2942, 1.8165], [0.899, 0.2834, 2.0615], [1.0318, 0.3972, 1.8666], [1.1277, 0.3589, 2.1982], [1.2903, 0.3067, 2.0605], [1.2849, 0.4732, 2.2116], [1.4558, 0.2388, 2.2926], [1.5223, 0.4132, 2.3482], [0.9992, 0.594, 2.1414], [0.7664, 0.6982, 2.1022], [0.9718, 0.7794, 2.1853], [0.9601, 0.6839, 2.3954], [1.0984, 0.9735, 2.5195], [1.1524, 0.8947, 2.7295], [0.9088, 0.5831, 2.2828], [1.1103, 0.6619, 2.2484], [0.9899, 0.4425, 2.3607], [1.2504, 0.4751, 2.233], [1.1423, 0.3371, 2.4083], [1.2732, 0.5671, 2.3889], [1.1035, 0.4944, 2.5774], [1.3107, 0.3747, 2.463], [1.2793, 0.5837, 2.5755], [1.1958, 0.3545, 2.6566], [1.2593, 0.5254, 2.739], [1.2808, 0.3891, 2.875], [1.0609, 0.8499, 2.2422], [1.0919, 0.77, 2.4626], [1.2736, 0.8481, 2.2903], [1.2593, 0.8272, 2.5295], [1.2565, 1.0654, 2.3387], [1.1371, 0.9737, 2.5788], [1.3766, 0.9645, 2.5341], [1.4091, 1.1299, 2.5915], [1.2211, 1.1432, 2.715], [1.4333, 1.0149, 2.7989], [1.2945, 1.1325, 2.8845], [1.0672, 0.9127, 2.5288], [0.9933, 0.6479, 2.6008], [1.1879, 0.7806, 2.6097], [0.9609, 0.8527, 2.6526], [1.0985, 0.6313, 2.718], [1.1851, 0.8752, 2.743], [0.9803, 0.8428, 2.7832], [0.9827, 0.7002, 2.8305], [1.2611, 0.6651, 3.1955], [1.1485, 0.8642, 2.6543], [1.3661, 0.7766, 2.5345], [1.2523, 0.9938, 2.6172], [1.2781, 0.7806, 2.746], [1.4023, 0.9218, 2.5931], [1.4378, 0.7993, 2.7324], [1.3821, 0.8932, 2.8907], [1.5716, 0.8926, 2.7613], [1.5308, 0.8303, 2.9488], [1.6396, 1.0059, 2.8498], [1.6712, 0.868, 2.9502], [1.612, 0.8819, 3.1624], [1.8324, 0.9652, 2.9886], [1.6757, 1.0533, 3.1443], [1.129, 1.1333, 2.6257], [1.344, 1.1385, 2.9567], [1.3105, 1.3529, 2.8362], [1.1939, 1.2872, 3.0383], [1.3683, 1.4104, 3.0019], [1.3567, 1.4574, 3.2324], [1.1662, 1.4296, 2.839], [1.198, 1.281, 3.1146], [1.3299, 1.4338, 2.9555], [1.0907, 1.4752, 3.0353], [1.3195, 1.4266, 3.1703], [1.2291, 1.1189, 2.8654], [1.3271, 1.2732, 2.7841], [1.3418, 1.0877, 2.9466], [1.2708, 1.2769, 2.9475], [1.4802, 1.104, 2.9972], [1.3248, 1.2049, 3.0904], [1.3467, 1.3464, 3.2055], [1.5152, 1.4474, 3.1561], [1.4219, 1.2551, 3.315], [1.6388, 1.3358, 3.2202], [1.4437, 1.4472, 3.2927], [1.0535, 0.3921, 2.2361], [1.1499, 0.5108, 1.9546], [1.2285, 0.3207, 2.1049], [1.6436, 0.4556, 2.1142], [1.6007, 0.2901, 2.2608], [1.754, 0.4955, 2.3198], [1.7962, 0.2842, 2.2988], [1.7805, 0.1803, 2.4831], [1.0933, 0.5093, 2.3712], [1.3164, 0.6078, 2.272], [1.3046, 0.7404, 2.3804], [1.3773, 0.5976, 2.5216], [1.2909, 0.8423, 2.566], [1.2493, 0.6249, 2.6724], [1.2711, 0.8168, 2.7583], [1.3655, 0.5678, 2.7972], [1.4532, 0.7748, 2.7605], [1.2849, 0.7246, 2.9062], [1.4828, 0.6452, 2.858], [1.4286, 0.856, 2.9412], [1.4029, 0.6474, 3.0082], [1.5515, 0.5403, 2.5055], [1.4426, 0.3551, 2.5801], [1.7007, 0.3611, 2.4851], [1.559, 0.4739, 2.6926], [1.7586, 0.4005, 2.6737], [1.5406, 0.3453, 2.806], [1.6956, 0.2159, 2.6958], [1.7322, 0.4003, 2.8617], [1.6085, 0.5486, 2.1953], [1.5043, 0.8123, 2.3], [1.6497, 0.714, 2.1186], [1.6185, 0.7889, 2.4386], [1.7805, 0.5883, 2.2864], [1.6879, 0.8484, 2.247], [1.7463, 0.6992, 2.4905], [1.8778, 0.7218, 2.2251], [1.7536, 0.8857, 2.4247], [1.9322, 0.8823, 2.3146], [1.8091, 0.8131, 2.5641], [1.9192, 0.937, 2.4732], [1.9313, 0.7248, 2.6173], [1.7023, 0.5029, 2.4027], [1.7851, 0.7935, 2.3605], [1.598, 0.6174, 2.5836], [1.8502, 0.5853, 2.4184], [1.7415, 0.5647, 2.5758], [1.9211, 0.6961, 2.4938], [1.9453, 0.7469, 2.6423], [1.7819, 0.6056, 2.8221], [1.9911, 0.5545, 2.6602], [1.9471, 0.7373, 2.8051], [1.9225, 0.6482, 2.9443], [2.037, 0.5532, 2.4705], [2.0477, 0.8664, 2.4375], [1.9671, 0.6747, 2.6741], [2.1409, 0.8963, 2.6552], [2.292, 0.7705, 2.7762], [2.0935, 0.8087, 2.5117], [2.0104, 0.6556, 2.6519], [2.1534, 0.566, 2.6699], [2.3075, 0.7294, 2.615], [-0.2407, -0.1725, 1.6245], [-0.5329, -0.2128, 1.6801], [-0.4201, -0.2278, 1.9643], [-0.6491, -0.1613, 2.1674], [-0.8771, -0.1965, 2.1091], [-0.3788, 0.1405, 1.9415], [-0.3285, 0.3648, 1.9558], [-0.5371, 0.334, 2.0885], [-0.3301, 0.2632, 2.2142], [-0.4827, 0.3409, 2.383], [-0.2756, 0.4465, 2.4759], [-0.5847, 0.0506, 1.4754], [-0.6796, 0.3127, 1.4575], [-0.8122, 0.0947, 1.6478], [-0.7565, 0.3521, 1.7189], [-0.9669, 0.3096, 1.5807], [-1.1188, 0.3563, 1.8221], [-0.9987, 0.4531, 1.9931], [-0.626, 0.1916, 1.8196], [-0.7614, 0.1131, 2.0028], [-0.5799, 0.1465, 2.2356], [-0.8039, 0.0592, 2.1923], [-0.6633, -0.0671, 2.3895], [-0.7476, 0.2042, 2.3765], [-0.9101, -0.0263, 2.423], [-0.7315, 0.0836, 2.5505], [-0.626, 0.3184, 1.6304], [-0.5806, 0.392, 1.8688], [-0.7769, 0.3254, 1.9875], [-0.7055, 0.5884, 1.8485], [-0.9289, 0.4576, 1.9216], [-0.7517, 0.5191, 2.0951], [-0.8903, 0.6944, 1.9356], [-0.7959, 0.6951, 2.1259], [-1.0057, 0.7181, 2.1018], [-0.8407, 0.2202, 1.7172], [-1.1491, 0.1984, 1.9244], [-1.1953, -0.0946, 1.952], [-1.1399, 0.1135, 2.1635], [-1.2523, -0.0456, 2.1833], [-1.4691, -0.0289, 2.1833], [-1.3589, 0.0118, 2.4432], [-0.8283, 0.3217, 1.9358], [-0.8346, 0.1019, 1.9958], [-0.7088, 0.257, 2.0695], [-0.8304, 0.3343, 2.3049], [-0.7307, 0.1507, 2.582], [-0.65, 0.3749, 2.5733], [-0.8313, 0.2773, 2.7247], [-0.9885, 0.1505, 1.8978], [-0.9427, 0.314, 2.0786], [-1.0673, 0.3302, 1.8225], [-1.0709, 0.4023, 2.014], [-1.1544, 0.3057, 2.2127], [-1.2741, 0.4811, 2.0072], [-1.2399, 0.434, 2.2079], [-1.4578, 0.4183, 2.0989], [-1.3379, 0.2985, 2.3194], [-1.0999, 0.1835, 1.9825], [-1.1056, 0.2416, 2.1669], [-1.1405, -0.026, 2.0862], [-1.0152, 0.1235, 2.322], [-1.2335, 0.1381, 2.233], [-1.1405, -0.0812, 2.3187], [-1.3529, 0.0444, 2.3707], [-1.2912, 0.2048, 2.5531], [-1.3785, -0.0112, 2.5353], [-1.2162, 0.0598, 2.73], [-1.1834, 0.4085, 2.0773], [-1.0171, 0.4748, 2.2072], [-1.2722, 0.3729, 2.2305], [-1.1355, 0.5359, 2.2661], [-1.2513, 0.3799, 2.4154], [-0.9812, 0.4789, 2.4636], [-1.2419, 0.6316, 2.397], [-1.1722, 0.4133, 2.5701], [-1.0458, 0.587, 2.4789], [-1.2621, 0.5906, 2.5541], [-1.0688, 0.5021, 2.6296], [-1.1234, 0.73, 2.563], [-1.3937, 0.2955, 2.1055], [-1.3603, 0.0713, 2.2727], [-1.4262, 0.3377, 2.2972], [-1.5452, 0.1518, 2.1339], [-1.6243, 0.0482, 2.3191], [-1.6573, 0.066, 2.526], [-1.7516, 0.1876, 2.5879], [-1.394, 0.4342, 2.2356], [-1.2168, 0.4262, 2.3961], [-1.2133, 0.1985, 2.4988], [-1.3513, 0.458, 2.4716], [-1.4092, 0.4341, 2.5809], [-1.4565, 0.2332, 2.6851], [-1.4612, 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[-0.0116, 0.1145, 0.0713], [-0.0488, -0.1013, 0.0643], [0.1266, -0.0021, 0.0646], [-0.0742, -0.1244, 0.0894], [0.1142, 0.0228, -0.0564], [-0.0834, 0.0827, 0.0598], [0.13, 0.1462, -0.0271], [-0.1451, 0.0288, -0.0235], [-0.0777, 0.0753, -0.1008], [-0.0318, -0.0796, 0.1155], [0.1137, 0.0236, -0.07], [-0.1157, 0.0368, 0.0115], [0.0717, -0.1592, 0.0365], [0.1657, -0.0771, 0.0377], [0.0464, 0.1353, 0.0125], [-0.0898, 0.0858, 0.0366], [-0.0214, 0.1228, -0.0154], [0.0468, -0.0123, -0.1677], [-0.0555, 0.1185, 0.107], [0.0208, -0.124, 0.0054], [0.0279, 0.1186, -0.1083], [-0.0816, 0.1079, 0.1234], [0.037, 0.135, -0.0816], [0.0929, -0.0108, -0.1077], [-0.133, 0.1075, 0.0477], [-0.0562, 0.1095, -0.0497], [-0.0236, -0.0927, 0.1217], [0.0967, 0.0058, -0.1204], [0.0519, 0.138, -0.1265], [0.1143, 0.019, -0.1311], [-0.1293, 0.1012, 0.0881], [-0.072, 0.1624, -0.0124], [0.1213, 0.0637, -0.0128], [-0.17, 0.048, 0.0222], [-0.0667, 0.1339, 0.013], [-0.0513, -0.1108, -0.0012], [-0.1267, -0.0286, 0.0081], [0.0279, -0.1766, -0.0151], [-0.1209, 0.0822, -0.0703], [-0.12, 0.0691, -0.0152], [-0.0966, 0.114, -0.0869], [-0.0258, -0.1468, 0.1283], [0.1407, 0.0796, -0.0838], [0.1497, -0.0259, -0.0042], [0.0862, -0.1039, 0.0587], [-0.1694, 0.0515, 0.023], [-0.0058, -0.1136, 0.0783], [-0.0152, 0.1288, -0.1517], [0.104, -0.0457, 0.0966], [0.0255, -0.1295, 0.136], [-0.1222, 0.091, 0.0281], [-0.0568, -0.0263, -0.189], [-0.0488, -0.0433, -0.1817], [0.0059, -0.1918, 0.0273], [-0.105, -0.0217, -0.1194], [-0.0888, 0.0217, -0.1203], [0.0446, -0.1047, -0.0428], [0.0357, 0.105, 0.1568], [-0.0188, 0.1776, 0.0318], [-0.0649, -0.1055, -0.1018], [0.1542, -0.0778, -0.0722], [0.0778, 0.0857, 0.0373], [0.0884, -0.0781, -0.0243], [-0.0256, 0.1364, 0.0555], [-0.1275, -0.0349, -0.1142], [-0.0415, -0.1552, -0.119], [-0.1025, -0.0277, -0.0661], [0.1392, -0.1046, 0.0411], [0.0246, -0.1774, -0.0216], [0.084, 0.1312, 0.0661], [-0.1201, -0.0371, -0.0699], [0.022, -0.1304, 0.1002], [0.0188, 0.1937, 0.0169], [-0.0672, -0.1024, -0.1155], [0.0327, -0.1221, 0.1029], [-0.059, -0.0966, -0.0666], [-0.0897, -0.0137, -0.1217], [0.0223, 0.1153, -0.0236], [-0.1218, -0.0979, -0.0554], [0.1087, -0.0221, 0.0952], [-0.0548, 0.1336, -0.12], [-0.0403, -0.1529, 0.0501], [-0.102, 0.1487, -0.0726], [0.1144, 0.02, -0.126], [0.1431, 0.0844, -0.0128], [-0.0435, 0.1499, -0.0379], [-0.0687, -0.1331, 0.0551], [-0.1543, -0.055, 0.0426], [0.1631, -0.0612, -0.01], [0.0903, -0.1641, 0.0233], [0.082, 0.1337, 0.0515], [0.1267, 0.0356, 0.0163], [-0.105, 0.0569, 0.0097], [-0.0281, 0.1802, 0.021], [0.0875, -0.1063, 0.0034], [-0.108, 0.1244, 0.002], [-0.1173, -0.0588, -0.0727], [0.1382, -0.0638, 0.1089], [-0.027, 0.1246, -0.0462], [-0.1412, 0.0236, -0.0344], [-0.0884, 0.1444, -0.06], [-0.0081, -0.1816, 0.054]]}
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.bin b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.bin
new file mode 100644
index 0000000..6e14958
Binary files /dev/null and b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.bin differ
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.gltf b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.gltf
new file mode 100644
index 0000000..e867872
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_1/apple_1_wood.gltf
@@ -0,0 +1 @@
+{"asset": {"version": "2.0", "generator": "kpi_rover garden"}, "scene": 0, "scenes": [{"nodes": [0]}], "nodes": [{"mesh": 0, "name": "mesh"}], "meshes": [{"name": "mesh", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3}]}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 18000, "type": "VEC3", "min": [-2.048381805419922, -1.9983251094818115, 0.0], "max": [2.2065482139587402, 1.7768609523773193, 3.6979119777679443]}, {"bufferView": 1, "componentType": 5126, "count": 18000, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 18000, "type": "VEC2"}, {"bufferView": 3, "componentType": 5125, "count": 18000, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteOffset": 0, "byteLength": 216000, "target": 34962}, {"buffer": 0, "byteOffset": 216000, "byteLength": 216000, "target": 34962}, {"buffer": 0, "byteOffset": 432000, "byteLength": 144000, "target": 34962}, {"buffer": 0, "byteOffset": 576000, "byteLength": 72000, "target": 34963}], "buffers": [{"uri": "apple_1_wood.bin", "byteLength": 648000}]}
\ No newline at end of file
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_leaves.yaml b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_leaves.yaml
new file mode 100644
index 0000000..fea6d0c
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_leaves.yaml
@@ -0,0 +1,2 @@
+# Leaf cards of apple_2, written by tools/assets/convert_trees.py: centers and half-axes, real m.
+{centers: [[0.1206, 0.4092, 1.2445], [0.2447, 0.4554, 1.546], [0.1374, 0.497, 1.8871], [0.1635, 0.7604, 1.8422], [0.2179, 0.7639, 2.1654], [0.0658, 0.8709, 2.414], [0.592, 0.3873, 1.4185], [0.5404, 0.1836, 1.6277], [0.7706, 0.3161, 1.7238], [0.8082, 0.0206, 1.7602], [1.0198, 0.1785, 1.7529], [0.9178, 0.1443, 1.9743], [1.0648, -0.0282, 1.935], [1.1443, 0.1481, 2.0753], [1.2944, -0.0323, 2.1788], [0.5568, 0.5475, 1.5282], [0.8421, 0.6251, 1.279], [0.7646, 0.815, 1.4835], [0.9969, 0.625, 1.499], [0.9619, 0.8157, 1.6521], [1.1169, 0.7607, 1.4776], [0.8189, 0.3667, 1.6022], [0.9279, 0.6143, 1.6705], [0.7406, 0.4799, 1.8856], [0.9963, 0.3345, 1.8434], [1.1225, 0.3615, 2.3072], [1.265, 0.2613, 2.2482], [0.882, 0.3792, 2.0132], [0.87, 0.5341, 2.205], [1.1029, 0.449, 1.5032], [1.2367, 0.4569, 1.7377], [1.3715, 0.5526, 1.5573], [1.6148, 0.563, 2.0317], [1.8232, 0.6132, 1.8512], [1.7464, 0.746, 2.016], [1.6594, 0.3147, 1.7548], [1.814, 0.5155, 1.8203], [1.3075, 0.7243, 1.7629], [1.1342, 0.9323, 1.6761], [1.3393, 0.9065, 1.7566], [1.3714, 0.8788, 1.9975], [1.5298, 1.2068, 2.0659], [1.5383, 1.1038, 2.2684], [1.436, 1.2143, 2.3845], [1.4504, 0.8315, 1.8144], [1.3549, 0.6747, 1.9147], [1.58, 0.6649, 1.7691], [1.4761, 0.5435, 1.9481], [1.6139, 0.7578, 1.9149], [1.4624, 0.6933, 2.0993], [1.6393, 0.5781, 1.9732], [1.6325, 0.8225, 2.1202], [1.5404, 0.563, 2.1689], [1.5722, 0.7343, 2.2691], [1.5662, 0.6017, 2.3896], [1.8333, 0.6657, 2.4144], [1.6028, 0.9036, 2.0171], [1.7589, 0.8698, 1.7352], [1.7408, 0.9236, 1.9402], [1.7206, 1.0307, 1.7442], [1.6828, 1.0763, 1.975], [1.8954, 0.9814, 1.8629], [1.9469, 1.1454, 1.8054], [1.7888, 1.2912, 2.0151], [2.0128, 1.093, 2.042], [1.9018, 1.2451, 2.1426], [2.1027, 1.346, 1.9912], [2.0161, 1.4166, 2.1921], [1.9101, 0.8667, 1.9656], [1.8313, 1.1467, 1.9133], [1.7788, 0.9448, 2.128], [1.9845, 1.0211, 1.9734], [1.7867, 1.1641, 2.1006], [1.9421, 0.9285, 2.1807], [2.2296, 1.1837, 2.3712], [2.0356, 1.1292, 2.5257], [2.197, 1.0121, 2.4519], [2.1892, 1.2309, 2.5322], [2.1152, 1.0044, 2.6521], [2.3459, 1.1159, 2.5398], [2.1219, 1.0055, 1.9473], [2.0712, 1.0845, 2.1505], [2.1798, 1.1116, 1.9026], [2.2105, 1.0406, 2.099], [2.2163, 1.2397, 1.9406], [2.2982, 1.1194, 2.0423], [2.2323, 1.13, 2.2253], [2.4056, 1.2386, 2.0571], [2.2238, 1.2949, 2.2229], [2.3778, 1.3453, 2.1587], [2.3995, 1.1633, 2.3804], [0.2389, 0.5284, 1.2604], [0.1868, 0.5525, 1.5409], [0.0937, 0.9337, 1.5931], [0.2707, 1.1616, 2.0191], [0.1065, 0.914, 1.5398], [0.1389, 0.9165, 1.8278], [0.1783, 1.1746, 1.7609], [-0.0929, 1.1998, 1.9045], [0.1444, 1.2271, 2.046], [0.4183, 0.5663, 1.6915], [0.6677, 0.6477, 1.7662], [0.4877, 0.495, 1.9898], [0.7162, 0.6207, 2.0879], [0.6022, 0.3948, 2.2234], [0.7389, 0.5681, 2.4071], [0.4599, 0.8404, 1.7323], [0.5746, 0.9409, 1.6071], [0.6132, 0.9245, 1.8768], [0.8181, 0.9767, 1.6487], [0.6187, 1.0987, 1.7726], [0.8167, 0.993, 1.9372], [0.8123, 1.1837, 1.7529], [0.9295, 1.1291, 1.9267], [0.3354, 0.9332, 1.9289], [0.5278, 1.0836, 2.1318], [0.307, 0.9867, 2.2245], [0.4929, 1.1952, 2.3242], [0.5947, 1.138, 2.5451], [0.4748, 1.1649, 2.6965], [0.2879, 0.9424, 2.3174], [0.3255, 0.8227, 2.5612], [0.2524, 0.9434, 2.7804], [0.7315, 1.1727, 1.9869], [0.6327, 0.9374, 2.1933], [0.7211, 1.1281, 2.1729], [0.809, 0.9215, 2.2048], [0.9054, 1.1152, 2.1551], [0.743, 1.0666, 2.3884], [0.994, 0.9253, 2.2835], [0.9312, 1.1649, 2.3614], [0.8652, 0.9846, 2.4502], [1.0644, 1.1195, 2.757], [0.8424, 1.2005, 2.1707], [0.7297, 1.3425, 1.969], [0.7164, 1.3015, 2.2423], [0.6729, 1.4381, 2.1084], [0.8425, 1.3739, 2.2734], [0.866, 1.5068, 2.0472], [0.7048, 1.5057, 2.2851], [0.9671, 1.636, 2.244], [0.7431, 1.714, 2.3538], [0.9196, 1.7797, 2.2959], [0.8259, 1.6933, 2.4894], [1.0638, 1.7341, 2.4391], [0.8614, 1.8429, 2.4211], [0.8194, 1.2621, 2.3697], [0.9707, 1.4768, 2.3018], [0.7311, 1.444, 2.4135], [0.8933, 1.6023, 2.4294], [0.7844, 1.3764, 2.5856], [0.8162, 1.6125, 2.6113], [0.9151, 1.3764, 2.7063], [1.0301, 1.4404, 2.7898], [0.9898, 1.6361, 2.7925], [0.8926, 1.4723, 2.9536], [1.0987, 1.5418, 2.8698], [1.0452, 1.4551, 3.0415], [1.123, 1.681, 3.0046], [0.9656, 1.7235, 2.3056], [1.0601, 1.6023, 2.4992], [1.1174, 1.6723, 2.27], [1.0144, 1.7618, 2.4418], [1.1151, 1.7433, 2.5481], [1.3685, 1.7685, 2.571], [1.3061, 2.0175, 2.5384], [1.2993, 1.8279, 2.7649], [1.0207, 1.8763, 2.3606], [1.1481, 1.8106, 2.4622], [0.9574, 1.9333, 2.4963], [1.0934, 1.7903, 2.6252], [1.2468, 1.8544, 2.6554], [1.1031, 2.0299, 2.5814], [1.0631, 2.1135, 2.7423], [1.2467, 2.1124, 2.675], [1.125, 2.0452, 2.8569], [-0.1763, -0.0472, 1.7356], [-0.3976, 0.1061, 1.6482], [-0.5125, 0.0947, 2.258], [-0.5391, 0.3473, 2.3054], [-0.7356, 0.2091, 2.4594], [-0.558, -0.0686, 1.7853], [-0.6896, -0.2857, 1.773], [-0.8159, -0.066, 1.6898], [-0.8976, -0.2899, 1.6368], [-1.1057, -0.1277, 1.7], [-1.112, -0.3225, 1.8615], [-1.1664, -0.1168, 1.9375], [-1.3364, -0.2435, 1.8121], [-0.6467, -0.288, 2.0111], [-0.6749, -0.0953, 2.1499], [-0.7726, -0.1196, 2.3514], [-0.9221, -0.098, 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[-0.085, -0.0642, -0.046], [-0.1282, 0.0413, 0.0121], [-0.0295, -0.1155, -0.1046], [-0.0976, -0.1165, -0.0055], [-0.0885, 0.051, 0.1302], [0.0022, -0.1409, -0.1236], [0.0696, 0.1052, 0.023], [0.088, 0.1371, -0.0859], [-0.0392, 0.0707, 0.1141], [0.0828, 0.1339, -0.0518], [0.1085, 0.0379, -0.1349], [0.0216, 0.1558, 0.08], [-0.1246, -0.0425, 0.1112], [-0.0623, 0.0502, 0.1069], [-0.0528, -0.136, 0.0], [0.1577, -0.0702, 0.0751], [0.0145, -0.124, 0.0427], [0.1066, 0.091, -0.0108], [0.0603, -0.0983, 0.0654], [0.0327, 0.1163, -0.0613], [-0.0962, -0.0753, 0.0206], [-0.0782, 0.0445, -0.14], [-0.0329, -0.0755, 0.1448], [0.1243, -0.0092, 0.0241], [0.0315, 0.0853, -0.0938], [-0.1658, 0.0602, -0.0053], [-0.0849, 0.1153, -0.0804], [-0.0206, -0.1353, 0.1372], [-0.0042, 0.113, -0.1395], [0.0179, -0.0693, 0.1155], [-0.0517, -0.1125, -0.0553], [0.0619, 0.0294, 0.0984], [0.07, -0.077, 0.1401], [-0.0672, -0.149, -0.0376], [0.0873, -0.0555, 0.165], [-0.1017, -0.1133, -0.0137], [-0.0266, -0.0856, 0.086], [0.0943, -0.0652, 0.1407], [-0.0854, -0.092, 0.0246], [-0.1428, -0.0381, -0.0531], [-0.0463, -0.1108, 0.0559], [-0.099, -0.1346, -0.0525], [-0.0189, -0.1466, 0.0976], [-0.1525, 0.0189, -0.0737], [-0.1259, 0.0023, -0.0582], [0.1281, -0.0721, 0.1045], [0.0111, -0.154, 0.112], [0.0955, 0.09, -0.0416], [0.1671, -0.0079, 0.0151], [0.0921, -0.1172, 0.0612], [0.0228, 0.103, -0.0549], [-0.0762, -0.0822, -0.0677], [-0.1069, 0.0169, -0.1152], [-0.0174, 0.1178, -0.0814], [-0.1206, -0.0929, 0.02], [-0.11, 0.0163, -0.0526], [-0.0108, 0.1291, -0.013], [-0.1631, -0.0327, -0.0454], [0.0685, 0.1686, -0.0055], [0.1336, 0.0242, -0.0086], [-0.1439, 0.0896, 0.0145], [-0.0641, 0.1315, 0.0047], [0.1519, -0.0164, 0.1153], [0.0283, -0.0197, 0.1416], [0.0631, 0.0198, -0.1131], [-0.0407, 0.0639, -0.1093], [-0.0695, -0.0778, 0.1471], [0.1244, -0.0311, 0.0324], [0.0789, -0.007, 0.1009], [-0.0089, 0.0759, -0.1638], [0.0321, -0.0845, 0.1528], [0.0633, 0.075, -0.0806], [0.1759, 0.0583, -0.014], [-0.0425, 0.0695, -0.1127], [-0.0553, -0.0933, 0.1105], [-0.0906, 0.0828, 0.023], [-0.034, 0.1265, -0.0457], [0.1031, 0.0133, -0.08], [0.139, -0.0977, -0.0474], [0.1541, 0.0443, -0.0917], [-0.0958, -0.0343, 0.0723], [-0.1043, 0.0942, -0.086], [-0.0073, -0.1132, 0.1379], [0.1294, 0.0669, -0.1199], [-0.0891, -0.0642, 0.0978], [0.1115, -0.0753, 0.0366], [0.1667, -0.0292, -0.0121], [0.1138, -0.108, -0.0465], [0.0569, 0.069, 0.1682], [-0.1219, 0.0069, -0.0902], [0.0684, 0.0911, 0.0192], [-0.0698, 0.0313, 0.0981], [-0.0021, -0.1022, -0.0841], [0.1807, 0.0122, -0.0433], [0.1572, -0.0612, 0.0052], [0.1528, -0.0939, 0.0012], [0.1226, 0.117, -0.0515], [0.146, -0.0024, -0.037], [-0.1348, 0.119, -0.0031], [-0.0167, 0.1249, -0.0303], [-0.0955, -0.0729, -0.1241], [0.1328, -0.0384, -0.0829], [0.0653, 0.0639, 0.0849], [0.1705, 0.0148, 0.0414], [-0.1212, 0.056, 0.0467], [-0.0567, 0.1081, 0.1277], [-0.0646, 0.0787, 0.0875], [-0.1529, -0.0217, 0.1077], [-0.0672, 0.0832, 0.0913], [-0.0377, -0.1515, -0.0691], [0.1259, 0.0894, -0.009], [0.1455, -0.0104, -0.081], [0.0887, -0.1159, -0.1244], [0.0203, 0.1371, 0.077], [0.1117, -0.0603, 0.0079], [0.0677, -0.1246, -0.0678], [-0.1533, -0.0311, -0.1034], [-0.0334, 0.1719, 0.0505], [0.1072, 0.0528, -0.0152], [-0.1061, 0.0105, 0.0968], [-0.0381, 0.0997, 0.1433], [-0.062, -0.0956, -0.0737], [-0.1165, -0.0494, -0.0042], [0.1598, -0.0257, -0.0893], [0.1504, 0.0679, 0.0279], [-0.0529, 0.0736, 0.0808], [-0.0426, -0.1134, -0.09], [0.0744, -0.1075, -0.0754], [0.039, 0.1568, 0.1057], [0.0941, -0.0845, 0.0238], [0.0856, 0.0364, -0.1079], [0.0542, -0.0873, 0.1179], [0.1797, 0.0363, -0.0243], [0.0794, 0.0804, -0.0561], [0.1098, -0.0027, -0.0492], [-0.0146, 0.1375, -0.0247], [-0.0779, -0.1032, 0.0581], [-0.1081, 0.0263, -0.0263], [-0.0902, 0.0637, -0.1378], [0.0567, -0.1181, 0.1059], [0.1072, -0.007, -0.099], [0.137, -0.0663, 0.0676], [0.0313, -0.142, 0.1236], [0.0922, 0.0817, -0.0804], [0.0096, 0.1177, -0.0769], [-0.0976, -0.0826, 0.0866], [-0.1581, 0.0462, 0.0812], [0.1207, -0.088, 0.0386], [0.0425, -0.1001, 0.1296], [0.0588, 0.051, -0.1242], [0.1384, -0.0181, -0.0833], [-0.1055, 0.0806, -0.0094], [-0.0368, 0.1155, -0.0816], [0.1121, 0.004, -0.0799], [-0.1239, -0.0553, -0.1027], [-0.0478, 0.0281, -0.125], [0.1073, 0.0694, -0.0289], [0.1254, -0.0086, 0.048], [0.0782, -0.103, 0.1159], [0.0449, 0.1365, -0.1261], [-0.1447, -0.0973, 0.0603], [-0.0796, 0.0569, -0.0893], [-0.014, -0.1238, 0.1382], [0.1695, -0.006, 0.0168], [-0.092, -0.0573, 0.0688], [-0.1013, 0.0508, 0.1215], [0.0072, -0.1598, -0.1042], [0.1028, 0.1544, 0.0285], [0.0747, -0.1156, 0.0416], [0.1666, 0.0094, -0.0952], [-0.081, 0.0938, 0.0277], [-0.0202, 0.1212, -0.024], [0.1332, 0.0652, -0.088], [-0.0194, 0.1091, 0.0366], [-0.0989, -0.1411, 0.018], [0.1289, 0.029, -0.071], [-0.1116, 0.0715, 0.0948], [0.0384, -0.1123, 0.087], [-0.1154, -0.0697, -0.0845], [0.0804, -0.0248, 0.1026], [0.0604, 0.1531, 0.0194], [-0.0595, 0.1482, -0.0402], [-0.0491, -0.1606, 0.0127], [0.1483, 0.0372, 0.1101]]}
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.bin b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.bin
new file mode 100644
index 0000000..b5a0054
Binary files /dev/null and b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.bin differ
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.gltf b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.gltf
new file mode 100644
index 0000000..a364d22
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_2/apple_2_wood.gltf
@@ -0,0 +1 @@
+{"asset": {"version": "2.0", "generator": "kpi_rover garden"}, "scene": 0, "scenes": [{"nodes": [0]}], "nodes": [{"mesh": 0, "name": "mesh"}], "meshes": [{"name": "mesh", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3}]}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 17856, "type": "VEC3", "min": [-1.96431303024292, -1.8412792682647705, 0.0], "max": [2.3600237369537354, 2.2333900928497314, 3.6769278049468994]}, {"bufferView": 1, "componentType": 5126, "count": 17856, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 17856, "type": "VEC2"}, {"bufferView": 3, "componentType": 5125, "count": 17856, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteOffset": 0, "byteLength": 214272, "target": 34962}, {"buffer": 0, "byteOffset": 214272, "byteLength": 214272, "target": 34962}, {"buffer": 0, "byteOffset": 428544, "byteLength": 142848, "target": 34962}, {"buffer": 0, "byteOffset": 571392, "byteLength": 71424, "target": 34963}], "buffers": [{"uri": "apple_2_wood.bin", "byteLength": 642816}]}
\ No newline at end of file
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_leaves.yaml b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_leaves.yaml
new file mode 100644
index 0000000..783e5b5
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_leaves.yaml
@@ -0,0 +1,2 @@
+# Leaf cards of apple_3, written by tools/assets/convert_trees.py: centers and half-axes, real m.
+{centers: [[-0.0124, 0.3067, 1.3831], [0.107, 0.3414, 1.6409], [0.0029, 0.2382, 1.9337], [0.1678, 0.4081, 1.9906], [0.1537, 0.3112, 2.267], [0.1628, 0.3254, 1.5406], [0.4224, 0.465, 1.5693], [0.4002, 0.2509, 1.7265], [0.5384, 0.4376, 1.9087], [0.6708, 0.1921, 1.9552], [0.7831, 0.4194, 1.9653], [0.6649, 0.3391, 2.19], [0.9274, 0.2675, 2.1473], [0.1017, 0.4889, 1.4853], [0.2093, 0.6859, 1.4238], [0.1668, 0.6833, 1.6455], [0.1448, 1.065, 1.8773], [0.4199, 1.0888, 1.9367], [0.2682, 1.1992, 2.0675], [0.3763, 0.3363, 1.6259], [0.1741, 0.3966, 1.9247], [0.3695, 0.3526, 1.977], [0.2788, 0.542, 2.1144], [0.1851, 0.3016, 2.0818], [0.3186, 0.3761, 2.3637], [0.3361, 0.7262, 1.6241], [0.4444, 0.5863, 1.8116], [0.4189, 0.8248, 1.8262], [0.7983, 0.8142, 1.827], [0.7685, 0.8282, 2.01], [0.8863, 1.0074, 1.8947], [0.3421, 0.6578, 1.9864], [0.2225, 0.8708, 1.8569], [0.1205, 0.6999, 1.9967], [0.2914, 1.0377, 2.1595], [0.005, 1.0076, 2.2247], [0.2782, 1.1436, 2.4444], [0.5172, 0.8076, 1.8098], [0.5892, 0.6109, 1.8956], [0.5029, 0.612, 2.0759], [0.8373, 0.6215, 2.2714], [0.7438, 0.557, 2.4474], [0.7583, 0.7113, 2.5938], [0.3405, 0.9315, 1.9214], [0.5171, 0.8818, 2.0297], [0.5084, 1.0484, 1.8376], [0.6785, 1.024, 2.0267], [0.4729, 1.187, 1.9863], [0.5434, 1.0877, 2.1772], [0.707, 1.21, 2.0396], [0.5255, 1.2649, 2.1739], [0.7169, 1.1261, 2.2682], [0.594, 1.2782, 2.3755], [0.7681, 1.2969, 2.445], [0.3246, 0.931, 2.1735], [0.5392, 1.0275, 2.282], [0.514, 0.7681, 2.4087], [0.4914, 1.0101, 2.3932], [0.303, 0.8929, 2.5081], [0.5656, 0.8573, 2.5036], [0.6133, 0.9817, 2.6057], [0.3795, 1.0161, 2.685], [0.5463, 0.8581, 2.7274], [0.5077, 1.0019, 2.2753], [0.7815, 1.0597, 2.1464], [0.6782, 1.1375, 2.3336], [0.855, 0.9449, 2.3117], [0.8715, 1.2115, 2.2716], [0.775, 1.0625, 2.4883], [0.9781, 1.053, 2.3478], [0.8758, 1.2007, 2.4413], [0.9152, 1.0189, 2.5122], [0.411, 1.266, 2.1591], [0.4815, 1.1662, 2.3922], [0.5732, 1.3062, 2.2425], [0.348, 1.3222, 2.3225], [0.605, 1.2712, 2.4556], [0.5255, 1.4697, 2.2736], [0.6563, 1.3922, 2.4213], [0.541, 1.3878, 2.5543], [0.6581, 1.554, 2.4165], [0.6662, 1.4931, 2.5939], [0.6551, 1.2982, 2.2641], [0.7924, 1.141, 2.4019], [0.6043, 1.1003, 2.5832], [0.8179, 1.1905, 2.5088], [0.7111, 1.3005, 2.6587], [0.9066, 1.2527, 2.6266], [0.8143, 1.1908, 2.6702], [0.5968, 1.2984, 2.6698], [0.6471, 1.1247, 2.7487], [0.5449, 1.2374, 2.858], [0.6012, 1.4294, 2.3615], [0.728, 1.4712, 2.2243], [0.7356, 1.4348, 2.4377], [0.9347, 1.4282, 2.2809], [0.7345, 1.6327, 2.354], [0.8903, 1.4421, 2.4913], [0.8312, 1.6088, 2.5015], [0.9523, 1.6764, 2.415], [0.9423, 1.5699, 2.5722], [0.9692, 1.7604, 2.568], [1.0911, 1.586, 2.5969], [0.6048, 1.2935, 2.5187], [0.5613, 1.4571, 2.5701], [0.5455, 1.668, 2.572], [0.6318, 1.4549, 2.7196], [0.7611, 1.6803, 2.6663], [0.5185, 1.607, 2.7249], [0.7513, 1.5015, 2.8143], [0.6542, 1.752, 2.753], [0.7767, 1.6557, 2.8562], [0.7686, 1.7047, 2.4037], [0.9666, 1.6215, 2.5066], [0.7366, 1.7304, 2.551], [0.9687, 1.6186, 2.6839], [0.8457, 1.6738, 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[-0.0629, 0.1209, -0.1082], [-0.0396, -0.1211, 0.05], [-0.1368, -0.1059, -0.0145], [-0.0457, -0.1035, -0.0868], [-0.0431, -0.0083, -0.1088], [0.0217, 0.1836, -0.0361], [0.076, 0.0162, 0.0967], [0.0682, -0.0993, 0.122], [0.0682, -0.0609, 0.1097], [-0.0573, 0.1061, -0.0346], [-0.0156, -0.1215, -0.0111], [0.093, 0.0847, 0.0565], [0.1491, -0.022, 0.087], [0.0587, -0.0982, 0.0392], [-0.1052, -0.0531, -0.0367], [-0.149, 0.0753, -0.0795], [-0.0244, 0.1388, -0.0512], [0.0509, -0.1226, 0.0548], [0.053, 0.1613, -0.0447], [-0.0376, -0.1681, 0.0649], [-0.093, -0.0839, -0.0181], [0.1234, -0.0038, 0.0714], [0.0554, -0.0877, 0.0699], [0.0493, 0.1432, -0.0538], [-0.1694, 0.0436, -0.0624], [-0.0683, 0.1202, -0.0744], [-0.0438, -0.1692, 0.0702], [0.1273, 0.1065, -0.011], [0.0597, -0.1187, -0.0891], [-0.0585, 0.0303, -0.0997], [-0.1095, 0.1005, -0.0439], [0.0655, 0.0276, 0.0921], [-0.0297, 0.1034, 0.1112], [-0.0957, 0.005, -0.0942], [-0.0482, -0.0972, -0.0669], [0.0852, -0.0752, 0.0701], [0.1057, 0.0032, 0.0973], [0.0586, -0.0795, 0.0694], [0.0061, 0.1348, -0.0237], [-0.0923, -0.0118, -0.0692], [0.1164, 0.016, 0.0668], [-0.0041, 0.1238, -0.0425], [-0.0642, -0.0981, -0.0088], [-0.0643, -0.0029, -0.1292], [0.0288, -0.1551, 0.0062], [-0.0756, -0.03, -0.1489], [-0.0539, 0.07, -0.0897], [0.0102, -0.1177, 0.0222], [-0.0465, -0.1054, -0.0528], [0.0537, -0.0706, 0.0941], [-0.0972, -0.1558, -0.0515], [-0.1014, -0.0393, -0.1067], [0.0119, -0.1116, 0.0537], [-0.1381, -0.058, 0.0832], [-0.1017, 0.0734, 0.0935], [0.105, 0.0912, 0.0], [-0.0717, 0.061, 0.0702], [-0.1126, -0.0037, -0.0884], [0.1577, -0.0937, 0.0251], [0.0424, 0.1057, 0.1158], [-0.1172, -0.0082, -0.0937], [0.1325, -0.1167, 0.0417], [-0.0795, -0.1165, -0.1002], [-0.105, -0.0056, -0.0814], [-0.1187, -0.0345, 0.0261], [-0.0225, -0.0727, -0.1659], [0.1541, -0.0802, -0.0067], [0.0924, -0.1046, -0.1121], [0.0134, 0.0524, 0.1042], [-0.0718, -0.1324, -0.1012], [0.0616, 0.104, 0.0359], [-0.1569, 0.0665, 0.0239], [-0.0443, 0.1524, 0.0488], [-0.1138, -0.1296, -0.0534], [-0.0678, 0.1272, 0.0134], [-0.1384, -0.0405, -0.0666], [0.0539, -0.1248, -0.005], [-0.0811, 0.0276, -0.0886], [0.0036, 0.0484, 0.1228], [-0.1458, 0.0687, -0.0377], [0.094, -0.1057, -0.0595], [-0.1181, 0.0341, -0.0425], [0.1309, -0.1247, -0.0441], [0.0983, 0.0302, 0.0597], [-0.1129, -0.0359, -0.0718], [-0.091, -0.0501, -0.0491], [-0.0107, -0.1708, -0.0728], [0.1001, 0.0823, 0.0554], [0.1206, -0.0092, 0.0244], [0.0812, -0.082, -0.0067], [-0.0048, 0.1206, 0.0301], [-0.1192, -0.1317, -0.0543], [-0.1212, -0.065, 0.1116], [-0.0543, 0.0298, 0.1623], [-0.0348, -0.1047, -0.1214], [0.1123, 0.1272, 0.0274], [0.1447, 0.0691, -0.0877], [-0.1279, -0.116, -0.0486], [-0.081, 0.0434, 0.088], [0.0488, -0.1353, -0.0346], [0.1408, 0.049, -0.0374], [-0.0186, 0.1192, 0.0317], [-0.1565, -0.0248, 0.0307], [-0.092, 0.0642, 0.0384], [0.0248, -0.1148, -0.0351], [-0.1291, 0.0545, 0.1234], [-0.0147, 0.0972, 0.0883], [-0.1678, -0.0603, 0.0312], [-0.1039, 0.0459, 0.0716], [0.0167, -0.1022, -0.0754], [-0.0197, 0.1492, 0.0937], [-0.0854, -0.1096, -0.0597], [-0.1349, -0.0413, -0.0068], [-0.0437, 0.0349, -0.1269], [-0.059, -0.109, 0.126], [-0.1555, -0.0827, 0.0364], [0.1161, 0.0069, 0.0473], [-0.1219, -0.0173, 0.0429], [-0.1291, 0.1174, 0.0197], [0.1419, -0.0145, -0.026], [0.0903, -0.0389, -0.0647], [-0.021, 0.1247, -0.0751], [0.1458, -0.0682, 0.0979], [-0.0427, 0.1498, -0.0732], [-0.025, -0.1338, 0.056], [0.1631, 0.0109, 0.0239], [0.025, -0.1263, 0.0113], [0.088, 0.1156, -0.0659], [0.1401, -0.0069, -0.0901], [-0.0671, 0.0914, 0.0461], [-0.1681, -0.0602, 0.029], [0.0355, -0.0594, 0.1015], [0.06, 0.0576, -0.087], [-0.137, 0.078, -0.0485], [0.1412, 0.1014, -0.0365], [0.1656, -0.0093, 0.015], [0.0119, 0.1521, -0.0525], [-0.1434, -0.1034, 0.0291], [-0.1275, 0.0404, -0.0011], [-0.0275, 0.1342, -0.0132], [-0.1195, -0.0152, 0.0115], [-0.0976, 0.1225, -0.0997], [0.085, -0.0082, -0.1142], [-0.1156, 0.0786, 0.0389], [-0.0818, 0.1488, -0.0648], [-0.0326, -0.0981, 0.1104], [0.0906, 0.0063, -0.0885], [0.0219, 0.106, -0.0898], [-0.0481, -0.1001, 0.1457], [0.1319, 0.0369, -0.0778], [0.1274, -0.0281, 0.0092], [0.1013, -0.1031, 0.1031], [0.0285, 0.1082, -0.1328], [0.0988, 0.0318, -0.0676], [-0.1196, 0.0403, 0.0079], [-0.0616, 0.0838, -0.049], [0.1378, 0.0584, -0.1091], [0.1177, 0.084, 0.0297], [-0.0233, 0.1613, 0.0174], [-0.0477, -0.1002, -0.0809], [-0.0809, -0.0118, -0.1143], [-0.1029, -0.06, -0.0569], [-0.1326, 0.0162, -0.0035], [-0.0769, 0.0857, 0.0477], [0.0274, 0.1278, 0.086], [0.0683, -0.0813, 0.1236], [0.1223, -0.0719, 0.1018], [-0.0127, -0.1268, 0.1067], [-0.0514, -0.1724, -0.0247], [0.0885, -0.0294, 0.1165], [0.0218, 0.029, 0.1409], [0.0683, -0.1394, 0.0253], [-0.0548, -0.0509, -0.1199], [0.0746, -0.0498, 0.112], [-0.0135, -0.108, -0.0397], [-0.0597, -0.07, -0.1273], [0.0101, 0.1461, 0.0261], [-0.0687, -0.086, -0.0903], [0.0132, 0.0891, 0.0759], [-0.0988, 0.0693, -0.1], [0.0137, -0.1391, -0.0655], [-0.0714, -0.0766, -0.1186], [-0.0575, 0.1039, -0.0744], [-0.1382, -0.0068, -0.0952], [0.117, 0.0421, 0.1209], [0.1059, -0.0427, 0.0418], [0.0163, 0.121, 0.091], [-0.1226, -0.0411, -0.1178], [0.1118, -0.0828, 0.0618], [-0.0256, 0.1141, 0.0067], [-0.0485, -0.0969, -0.0599], [0.1015, -0.0637, 0.0667], [0.1242, -0.014, -0.0508], [0.0591, -0.119, -0.0899], [-0.1413, -0.0614, -0.0224], [-0.0194, 0.1468, -0.0662], [-0.0458, -0.0699, 0.1175], [0.0812, -0.0247, -0.0993], [-0.0857, 0.1272, 0.053], [0.0686, 0.1177, -0.1228], [0.1091, -0.0216, -0.0738], [0.0244, 0.1411, -0.0092], [0.075, 0.0809, -0.0704], [-0.0928, 0.0081, 0.1369], [0.0309, -0.0876, -0.0833], [0.0381, 0.1403, 0.0251], [0.128, 0.1208, -0.0719], [-0.0433, 0.0848, 0.0848], [-0.0284, -0.139, -0.0424], [0.1457, -0.0946, 0.0462], [0.039, -0.1321, 0.1191], [0.1353, -0.0272, -0.0499], [-0.0728, 0.1044, -0.0132], [0.0126, 0.1177, -0.062], [-0.1029, -0.0845, 0.1], [-0.1052, 0.0602, 0.0606], [-0.0397, -0.147, 0.0744], [0.1296, 0.0476, -0.115], [-0.1141, 0.084, 0.0834], [-0.0291, -0.0953, -0.0599], [-0.1411, -0.0318, -0.0308], [-0.1013, -0.0897, -0.0769], [0.1288, 0.06, -0.0029], [-0.1456, 0.0492, 0.048], [-0.0545, -0.1563, -0.0564], [0.0765, -0.1284, 0.0213], [0.0759, 0.1154, -0.0238], [0.1208, -0.0526, -0.0167], [0.0222, -0.1635, -0.0077], [0.0432, 0.1327, -0.0086], [0.0571, 0.1269, 0.0324], [-0.1126, -0.1234, -0.0376]]}
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.bin b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.bin
new file mode 100644
index 0000000..aaa381b
Binary files /dev/null and b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.bin differ
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.gltf b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.gltf
new file mode 100644
index 0000000..52058de
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_3/apple_3_wood.gltf
@@ -0,0 +1 @@
+{"asset": {"version": "2.0", "generator": "kpi_rover garden"}, "scene": 0, "scenes": [{"nodes": [0]}], "nodes": [{"mesh": 0, "name": "mesh"}], "meshes": [{"name": "mesh", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3}]}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 18480, "type": "VEC3", "min": [-2.20934796333313, -1.541462779045105, 0.0], "max": [1.6854727268218994, 2.1477699279785156, 3.7474958896636963]}, {"bufferView": 1, "componentType": 5126, "count": 18480, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 18480, "type": "VEC2"}, {"bufferView": 3, "componentType": 5125, "count": 18480, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteOffset": 0, "byteLength": 221760, "target": 34962}, {"buffer": 0, "byteOffset": 221760, "byteLength": 221760, "target": 34962}, {"buffer": 0, "byteOffset": 443520, "byteLength": 147840, "target": 34962}, {"buffer": 0, "byteOffset": 591360, "byteLength": 73920, "target": 34963}], "buffers": [{"uri": "apple_3_wood.bin", "byteLength": 665280}]}
\ No newline at end of file
diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_4/apple_4_leaves.yaml b/src/platform/kpi_rover_worlds/assets/models/apple_4/apple_4_leaves.yaml
new file mode 100644
index 0000000..49937e9
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/apple_4/apple_4_leaves.yaml
@@ -0,0 +1,2 @@
+# Leaf cards of apple_4, written by tools/assets/convert_trees.py: centers and half-axes, real m.
+{centers: [[0.1222, 0.349, 1.5455], [0.0867, 0.2538, 1.8273], [-0.0139, 0.4686, 1.8622], [0.077, 0.4245, 2.1241], [0.1971, 0.3607, 1.5592], [0.4148, 0.268, 1.6642], [0.5378, 0.4769, 1.8009], [0.7651, 0.4501, 1.7787], [0.6761, 0.3694, 1.9887], [0.8783, 0.3155, 1.9107], [0.8648, 0.5222, 2.0534], [0.2114, 0.6241, 1.4508], [0.175, 0.9378, 1.9221], [0.4243, 0.9235, 2.0047], [0.4597, 1.1722, 2.0758], [0.3477, 0.5707, 2.0028], [0.2761, 0.6203, 2.2584], [0.2953, 0.3571, 2.5765], [0.4598, 0.8069, 1.9454], [0.8688, 0.8044, 1.9428], [0.8326, 0.8208, 2.1632], [0.9089, 0.9679, 2.0457], [0.3954, 0.7965, 1.8939], [0.28, 0.6694, 2.0256], [0.3986, 0.9367, 2.1406], [0.1607, 0.9149, 2.2156], [0.4467, 1.0463, 2.4235], [0.3528, 1.1963, 2.4751], [0.4414, 0.619, 2.177], [0.7503, 0.6186, 2.49], [0.5816, 0.589, 2.6413], [0.5501, 0.7577, 2.7669], [0.7285, 0.8163, 2.895], [0.5879, 0.6441, 2.9355], [0.4561, 0.9792, 2.057], [0.5536, 0.9894, 2.2343], [0.3097, 1.0616, 2.19], [0.4645, 0.9902, 2.43], [0.5026, 1.1881, 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diff --git a/src/platform/kpi_rover_worlds/assets/models/apple_4/apple_4_wood.gltf b/src/platform/kpi_rover_worlds/assets/models/apple_4/apple_4_wood.gltf
new file mode 100644
index 0000000..fd52417
--- /dev/null
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diff --git a/src/platform/kpi_rover_worlds/assets/models/can_rusted/can_rusted.gltf b/src/platform/kpi_rover_worlds/assets/models/can_rusted/can_rusted.gltf
new file mode 100644
index 0000000..14f38d3
--- /dev/null
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new file mode 100644
index 0000000..62ef799
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diff --git a/src/platform/kpi_rover_worlds/assets/models/can_rusted/textures/can_rusted_diff_512.jpg b/src/platform/kpi_rover_worlds/assets/models/can_rusted/textures/can_rusted_diff_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/can_rusted/textures/can_rusted_nor_gl_512.jpg b/src/platform/kpi_rover_worlds/assets/models/can_rusted/textures/can_rusted_nor_gl_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/cardboard_box_01.bin b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/cardboard_box_01.bin
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/cardboard_box_01.gltf b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/cardboard_box_01.gltf
new file mode 100644
index 0000000..91d32c2
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/cardboard_box_01.gltf
@@ -0,0 +1 @@
+{"asset": {"generator": "Khronos glTF Blender I/O v3.3.32", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0]}], "nodes": [{"mesh": 0, "name": "cardboard_box_01", "translation": [0, 0.17664676904678345, 0]}], "materials": [{"doubleSided": true, "name": "cardboard_box_01", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorTexture": {"index": 1}, "metallicFactor": 0, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "cardboard_box_01", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "cardboard_box_01_nor_gl", "uri": "textures/cardboard_box_01_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "cardboard_box_01_diff", "uri": "textures/cardboard_box_01_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "cardboard_box_01_rough", "uri": "textures/cardboard_box_01_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 8757, "max": [0.19451794028282166, 0.1583968549966812, 0.2907867133617401], "min": [-0.19250565767288208, -0.18340270221233368, -0.22508370876312256], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 8757, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 8757, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 50856, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 105084, "byteOffset": 0, "target": 34962}, {"buffer": 0, "byteLength": 105084, "byteOffset": 105084, "target": 34962}, {"buffer": 0, "byteLength": 70056, "byteOffset": 210168, "target": 34962}, {"buffer": 0, "byteLength": 101712, "byteOffset": 280224, "target": 34963}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 381936, "uri": "cardboard_box_01.bin"}]}
\ No newline at end of file
diff --git a/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_arm_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_diff_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_diff_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_nor_gl_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cardboard_box_01/textures/cardboard_box_01_nor_gl_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cement_bag/cement_bag.bin b/src/platform/kpi_rover_worlds/assets/models/cement_bag/cement_bag.bin
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cement_bag/cement_bag.gltf b/src/platform/kpi_rover_worlds/assets/models/cement_bag/cement_bag.gltf
new file mode 100644
index 0000000..f9946e6
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/cement_bag/cement_bag.gltf
@@ -0,0 +1 @@
+{"asset": {"generator": "Khronos glTF Blender I/O v5.1.20", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0]}], "nodes": [{"mesh": 0, "name": "cement_bag"}], "materials": [{"doubleSided": true, "name": "cement_bag", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorTexture": {"index": 1}, "metallicFactor": 0, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "cement_bag", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "cement_bag_nor_gl", "uri": "textures/cement_bag_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "cement_bag_diff", "uri": "textures/cement_bag_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "cement_bag_rough", "uri": "textures/cement_bag_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 538, "max": [0.23361928761005402, 0.1811952143907547, 0.35138440132141113], "min": [-0.22885453701019287, 0.0012853443622589111, -0.348199725151062], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 538, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 538, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 2532, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 6456, "byteOffset": 0, "target": 34962}, {"buffer": 0, "byteLength": 6456, "byteOffset": 6456, "target": 34962}, {"buffer": 0, "byteLength": 4304, "byteOffset": 12912, "target": 34962}, {"buffer": 0, "byteLength": 5064, "byteOffset": 17216, "target": 34963}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 22280, "uri": "cement_bag.bin"}]}
\ No newline at end of file
diff --git a/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_arm_512.jpg
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index 0000000..127f71c
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_diff_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_diff_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_nor_gl_512.jpg b/src/platform/kpi_rover_worlds/assets/models/cement_bag/textures/cement_bag_nor_gl_512.jpg
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index 0000000..bd01c3c
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diff --git a/src/platform/kpi_rover_worlds/assets/models/grass_cards/grass_cards.png b/src/platform/kpi_rover_worlds/assets/models/grass_cards/grass_cards.png
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index 0000000..162ca30
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diff --git a/src/platform/kpi_rover_worlds/assets/models/grass_cards/grass_cards.yaml b/src/platform/kpi_rover_worlds/assets/models/grass_cards/grass_cards.yaml
new file mode 100644
index 0000000..464971d
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/grass_cards/grass_cards.yaml
@@ -0,0 +1,209 @@
+# Sprites of grass_cards.png: name, real width and height (m), uv: left, top, right, bottom.
+- name: dandelion_01__dandelion_01_a_LOD0
+  width: 0.219
+  height: 0.164
+  uv: [0.25391, 0.38086, 0.37891, 0.47412]
+- name: dandelion_01__dandelion_01_b_LOD0
+  width: 0.201
+  height: 0.113
+  uv: [0.12695, 0.47656, 0.25195, 0.54688]
+- name: dandelion_01__dandelion_01_c_LOD0
+  width: 0.169
+  height: 0.1
+  uv: [0.0, 0.47656, 0.125, 0.55078]
+- name: grass_bermuda_01__grass_bermuda_01_medium_a
+  width: 0.036
+  height: 0.09
+  uv: [0.0, 0.0, 0.05029, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_medium_b
+  width: 0.048
+  height: 0.07
+  uv: [0.05225, 0.0, 0.13721, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_medium_c
+  width: 0.053
+  height: 0.063
+  uv: [0.13916, 0.0, 0.24414, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_medium_d
+  width: 0.049
+  height: 0.093
+  uv: [0.24609, 0.0, 0.31152, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_medium_e
+  width: 0.06
+  height: 0.078
+  uv: [0.31348, 0.0, 0.40918, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_medium_f
+  width: 0.035
+  height: 0.106
+  uv: [0.41113, 0.0, 0.45264, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_seedling_a
+  width: 0.065
+  height: 0.15
+  uv: [0.45459, 0.0, 0.50879, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_seedling_b
+  width: 0.069
+  height: 0.127
+  uv: [0.51074, 0.0, 0.57861, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_seedling_c
+  width: 0.036
+  height: 0.092
+  uv: [0.1084, 0.25391, 0.15674, 0.37842]
+- name: grass_bermuda_01__grass_bermuda_01_seedling_d
+  width: 0.063
+  height: 0.15
+  uv: [0.58057, 0.0, 0.63281, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_single_a
+  width: 0.004
+  height: 0.149
+  uv: [0.63477, 0.0, 0.6377, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_single_b
+  width: 0.004
+  height: 0.149
+  uv: [0.63965, 0.0, 0.64258, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_small_e
+  width: 0.024
+  height: 0.082
+  uv: [0.64453, 0.0, 0.68115, 0.125]
+- name: grass_bermuda_01__grass_bermuda_01_small_f
+  width: 0.032
+  height: 0.065
+  uv: [0.68311, 0.0, 0.74414, 0.125]
+- name: grass_medium_01__grass_medium_01_large_a_LOD0
+  width: 0.314
+  height: 0.144
+  uv: [0.50781, 0.47656, 0.63281, 0.53369]
+- name: grass_medium_01__grass_medium_01_large_b_LOD0
+  width: 0.277
+  height: 0.166
+  uv: [0.38086, 0.38086, 0.50586, 0.45557]
+- name: grass_medium_01__grass_medium_01_large_c_LOD0
+  width: 0.275
+  height: 0.139
+  uv: [0.25391, 0.47656, 0.37891, 0.53955]
+- name: grass_medium_01__grass_medium_01_mid_a_LOD0
+  width: 0.211
+  height: 0.213
+  uv: [0.74609, 0.0, 0.87012, 0.125]
+- name: grass_medium_01__grass_medium_01_mid_b_LOD0
+  width: 0.182
+  height: 0.177
+  uv: [0.39355, 0.25391, 0.51855, 0.375]
+- name: grass_medium_01__grass_medium_01_mid_c_LOD0
+  width: 0.189
+  height: 0.142
+  uv: [0.0, 0.38086, 0.125, 0.47461]
+- name: grass_medium_01__grass_medium_01_small_a_LOD0
+  width: 0.158
+  height: 0.138
+  uv: [0.64746, 0.25391, 0.77246, 0.36279]
+- name: grass_medium_01__grass_medium_01_small_b_LOD0
+  width: 0.163
+  height: 0.098
+  uv: [0.50781, 0.38086, 0.63281, 0.45557]
+- name: grass_medium_01__grass_medium_01_tall_a_LOD0
+  width: 0.139
+  height: 0.304
+  uv: [0.87207, 0.0, 0.92871, 0.125]
+- name: grass_medium_01__grass_medium_01_tall_b_LOD0
+  width: 0.147
+  height: 0.28
+  uv: [0.93066, 0.0, 0.99609, 0.125]
+- name: grass_medium_01__grass_medium_01_tall_c_LOD0
+  width: 0.146
+  height: 0.233
+  uv: [0.0, 0.12695, 0.07812, 0.25195]
+- name: grass_medium_01__grass_medium_01_tiny_a_LOD0
+  width: 0.065
+  height: 0.111
+  uv: [0.08008, 0.12695, 0.15332, 0.25195]
+- name: grass_medium_01__grass_medium_01_tiny_b_LOD0
+  width: 0.023
+  height: 0.06
+  uv: [0.15527, 0.12695, 0.20312, 0.25195]
+- name: grass_medium_01__grass_medium_01_tiny_c_LOD0
+  width: 0.015
+  height: 0.081
+  uv: [0.20508, 0.12695, 0.22754, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_large_a_LOD0
+  width: 0.314
+  height: 0.144
+  uv: [0.63477, 0.47656, 0.75977, 0.53369]
+- name: grass_medium_01_dry__grass_medium_01_large_b_LOD0
+  width: 0.277
+  height: 0.166
+  uv: [0.63477, 0.38086, 0.75977, 0.45557]
+- name: grass_medium_01_dry__grass_medium_01_large_c_LOD0
+  width: 0.275
+  height: 0.139
+  uv: [0.38086, 0.47656, 0.50586, 0.53955]
+- name: grass_medium_01_dry__grass_medium_01_mid_a_LOD0
+  width: 0.211
+  height: 0.213
+  uv: [0.22949, 0.12695, 0.35352, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_mid_b_LOD0
+  width: 0.182
+  height: 0.177
+  uv: [0.52051, 0.25391, 0.64551, 0.375]
+- name: grass_medium_01_dry__grass_medium_01_mid_c_LOD0
+  width: 0.189
+  height: 0.142
+  uv: [0.12695, 0.38086, 0.25195, 0.47461]
+- name: grass_medium_01_dry__grass_medium_01_small_a_LOD0
+  width: 0.158
+  height: 0.138
+  uv: [0.77441, 0.25391, 0.89941, 0.36279]
+- name: grass_medium_01_dry__grass_medium_01_small_b_LOD0
+  width: 0.163
+  height: 0.098
+  uv: [0.76172, 0.38086, 0.88672, 0.45557]
+- name: grass_medium_01_dry__grass_medium_01_tall_a_LOD0
+  width: 0.139
+  height: 0.304
+  uv: [0.35547, 0.12695, 0.41211, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_tall_b_LOD0
+  width: 0.147
+  height: 0.28
+  uv: [0.41406, 0.12695, 0.47949, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_tall_c_LOD0
+  width: 0.146
+  height: 0.233
+  uv: [0.48145, 0.12695, 0.55957, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_tiny_a_LOD0
+  width: 0.065
+  height: 0.111
+  uv: [0.56152, 0.12695, 0.63477, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_tiny_b_LOD0
+  width: 0.023
+  height: 0.06
+  uv: [0.63672, 0.12695, 0.68457, 0.25195]
+- name: grass_medium_01_dry__grass_medium_01_tiny_c_LOD0
+  width: 0.015
+  height: 0.081
+  uv: [0.68652, 0.12695, 0.70898, 0.25195]
+- name: grass_medium_02__grass_medium_02_a
+  width: 0.113
+  height: 0.132
+  uv: [0.71094, 0.12695, 0.81836, 0.25195]
+- name: grass_medium_02__grass_medium_02_b
+  width: 0.178
+  height: 0.175
+  uv: [0.2666, 0.25391, 0.3916, 0.37646]
+- name: grass_medium_02__grass_medium_02_c
+  width: 0.193
+  height: 0.228
+  uv: [0.15869, 0.25391, 0.26465, 0.37842]
+- name: grass_medium_02__grass_medium_02_d
+  width: 0.254
+  height: 0.257
+  uv: [0.82031, 0.12695, 0.94385, 0.25195]
+- name: grass_medium_02__grass_medium_02_e
+  width: 0.34
+  height: 0.398
+  uv: [0.0, 0.25391, 0.10645, 0.37891]
+- name: weed_plant_02__weed_plant_02_a_LOD0
+  width: 0.217
+  height: 0.071
+  uv: [0.0, 0.55273, 0.125, 0.59375]
+- name: weed_plant_02__weed_plant_02_b_LOD0
+  width: 0.185
+  height: 0.067
+  uv: [0.76172, 0.47656, 0.88672, 0.52148]
diff --git a/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.bin b/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.bin
new file mode 100644
index 0000000..6a77479
Binary files /dev/null and b/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.bin differ
diff --git a/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.gltf b/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.gltf
new file mode 100644
index 0000000..e52cec0
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/medical_box/medical_box.gltf
@@ -0,0 +1 @@
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diff --git a/src/platform/kpi_rover_worlds/assets/models/metal_toolbox/metal_toolbox.gltf b/src/platform/kpi_rover_worlds/assets/models/metal_toolbox/metal_toolbox.gltf
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diff --git a/src/platform/kpi_rover_worlds/assets/models/oil_tin/oil_tin.gltf b/src/platform/kpi_rover_worlds/assets/models/oil_tin/oil_tin.gltf
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+{"asset": {"generator": "Khronos glTF Blender I/O v3.6.27", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0]}], "nodes": [{"mesh": 0, "name": "old_tyre"}], "materials": [{"doubleSided": true, "name": "old_tyre", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorTexture": {"index": 1}, "metallicFactor": 0, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "tire_lo", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "old_tyre_nor_gl", "uri": "textures/old_tyre_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "old_tyre_diff", "uri": "textures/old_tyre_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "old_tyre_rough", "uri": "textures/old_tyre_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 2090, "max": [0.30000001192092896, 0.30000001192092896, 0.08223667740821838], "min": [-0.30000001192092896, -0.30000001192092896, -0.08276332169771194], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 2090, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 2090, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 8640, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 25080, "byteOffset": 0, "target": 34962}, {"buffer": 0, "byteLength": 25080, "byteOffset": 25080, "target": 34962}, {"buffer": 0, "byteLength": 16720, "byteOffset": 50160, "target": 34962}, {"buffer": 0, "byteLength": 17280, "byteOffset": 66880, "target": 34963}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 84160, "uri": "old_tyre.bin"}]}
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diff --git a/src/platform/kpi_rover_worlds/assets/models/old_tyre/textures/old_tyre_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/old_tyre/textures/old_tyre_arm_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/plastic_crate_02.bin b/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/plastic_crate_02.bin
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diff --git a/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/plastic_crate_02.gltf b/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/plastic_crate_02.gltf
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--- /dev/null
+++ b/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/plastic_crate_02.gltf
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+{"asset": {"generator": "Khronos glTF Blender I/O v5.1.20", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0]}], "nodes": [{"mesh": 0, "name": "plastic_crate_02"}], "materials": [{"alphaMode": "BLEND", "name": "plastic_crate_02", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorFactor": [1, 0.40816283226013184, 0, 1], "baseColorTexture": {"index": 1}, "metallicFactor": 0, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "Cube.002", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "plastic_crate_02_nor_gl", "uri": "textures/plastic_crate_02_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "plastic_crate_02_diff-plastic_crate_02_opacity", "uri": "textures/plastic_crate_02_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "plastic_crate_02_rough", "uri": "textures/plastic_crate_02_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 4744, "max": [0.2527506947517395, 0.25407320261001587, 0.20275069773197174], "min": [-0.2527506947517395, -1.595914363861084e-05, -0.20275069773197174], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 4744, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 4744, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 17520, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 56928, "byteOffset": 0, "target": 34962}, {"buffer": 0, "byteLength": 56928, "byteOffset": 56928, "target": 34962}, {"buffer": 0, "byteLength": 37952, "byteOffset": 113856, "target": 34962}, {"buffer": 0, "byteLength": 35040, "byteOffset": 151808, "target": 34963}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 186848, "uri": "plastic_crate_02.bin"}]}
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diff --git a/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/textures/plastic_crate_02_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/plastic_crate_02/textures/plastic_crate_02_arm_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/wooden_bucket_01/textures/wooden_bucket_01_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/wooden_bucket_01/textures/wooden_bucket_01_arm_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/wooden_bucket_01/wooden_bucket_01.gltf b/src/platform/kpi_rover_worlds/assets/models/wooden_bucket_01/wooden_bucket_01.gltf
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+{"asset": {"generator": "Khronos glTF Blender I/O v1.7.33", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0, 1]}], "nodes": [{"mesh": 0, "name": "wooden_bucket_01", "translation": [-0.00012092795077478513, 0, 0.00012092784163542092]}, {"mesh": 1, "name": "wooden_bucket_01_handle", "translation": [0, 0.3211684823036194, 0.00012092789256712422]}], "materials": [{"doubleSided": true, "name": "wooden_bucket_01", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorTexture": {"index": 1}, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "Cylinder", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}, {"name": "Plane", "primitives": [{"attributes": {"POSITION": 4, "NORMAL": 5, "TEXCOORD_0": 6}, "indices": 7, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "wooden_bucket_01_nor_gl", "uri": "textures/wooden_bucket_01_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "wooden_bucket_01_diff", "uri": "textures/wooden_bucket_01_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "wooden_bucket_01_metal-wooden_bucket_01_rough", "uri": "textures/wooden_bucket_01_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 3606, "max": [0.17380821704864502, 0.3491709232330322, 0.17213965952396393], "min": [-0.17317181825637817, 0.00013674795627593994, -0.17008152604103088], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 3606, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 3606, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 13452, "type": "SCALAR"}, {"bufferView": 4, "componentType": 5126, "count": 385, "max": [0.18252430856227875, 0.22883063554763794, 0.004410651046782732], "min": [-0.1844465434551239, -0.007601439952850342, -0.003766037989407778], "type": "VEC3"}, {"bufferView": 5, "componentType": 5126, "count": 385, "type": "VEC3"}, {"bufferView": 6, "componentType": 5126, "count": 385, "type": "VEC2"}, {"bufferView": 7, "componentType": 5123, "count": 1896, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 43272, "byteOffset": 0}, {"buffer": 0, "byteLength": 43272, "byteOffset": 43272}, {"buffer": 0, "byteLength": 28848, "byteOffset": 86544}, {"buffer": 0, "byteLength": 26904, "byteOffset": 115392}, {"buffer": 0, "byteLength": 4620, "byteOffset": 142296}, {"buffer": 0, "byteLength": 4620, "byteOffset": 146916}, {"buffer": 0, "byteLength": 3080, "byteOffset": 151536}, {"buffer": 0, "byteLength": 3792, "byteOffset": 154616}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 158408, "uri": "wooden_bucket_01.bin"}]}
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diff --git a/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/textures/wooden_crate_01_arm_512.jpg b/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/textures/wooden_crate_01_arm_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/textures/wooden_crate_01_nor_gl_512.jpg b/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/textures/wooden_crate_01_nor_gl_512.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/wooden_crate_01.gltf b/src/platform/kpi_rover_worlds/assets/models/wooden_crate_01/wooden_crate_01.gltf
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+{"asset": {"generator": "Khronos glTF Blender I/O v4.1.63", "version": "2.0"}, "scene": 0, "scenes": [{"name": "Scene", "nodes": [0, 1, 2]}], "nodes": [{"mesh": 0, "name": "wooden_crate_01_lid"}, {"mesh": 1, "name": "wooden_crate_01"}, {"mesh": 2, "name": "wooden_crate_01_latch"}], "materials": [{"doubleSided": true, "name": "wooden_crate_01", "normalTexture": {"index": 0}, "pbrMetallicRoughness": {"baseColorTexture": {"index": 1}, "metallicRoughnessTexture": {"index": 2}}}], "meshes": [{"name": "Cube.005", "primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1, "TEXCOORD_0": 2}, "indices": 3, "material": 0}]}, {"name": "Cube.020", "primitives": [{"attributes": {"POSITION": 4, "NORMAL": 5, "TEXCOORD_0": 6}, "indices": 7, "material": 0}]}, {"name": "Cube.001", "primitives": [{"attributes": {"POSITION": 8, "NORMAL": 9, "TEXCOORD_0": 10}, "indices": 11, "material": 0}]}], "textures": [{"sampler": 0, "source": 0}, {"sampler": 0, "source": 1}, {"sampler": 0, "source": 2}], "images": [{"mimeType": "image/jpeg", "name": "wooden_crate_01_nor_gl", "uri": "textures/wooden_crate_01_nor_gl_512.jpg"}, {"mimeType": "image/jpeg", "name": "wooden_crate_01_diff", "uri": "textures/wooden_crate_01_diff_512.jpg"}, {"mimeType": "image/jpeg", "name": "wooden_crate_01_metal-wooden_crate_01_rough", "uri": "textures/wooden_crate_01_arm_512.jpg"}], "accessors": [{"bufferView": 0, "componentType": 5126, "count": 596, "max": [0.3539096713066101, 0.3416849374771118, 0.1961396187543869], "min": [-0.3539096713066101, 0.29946234822273254, -0.1961396187543869], "type": "VEC3"}, {"bufferView": 1, "componentType": 5126, "count": 596, "type": "VEC3"}, {"bufferView": 2, "componentType": 5126, "count": 596, "type": "VEC2"}, {"bufferView": 3, "componentType": 5123, "count": 2076, "type": "SCALAR"}, {"bufferView": 4, "componentType": 5126, "count": 3706, "max": [0.4126364588737488, 0.3139750361442566, 0.2128141224384308], "min": [-0.4126364588737488, -0.00793334562331438, -0.19549614191055298], "type": "VEC3"}, {"bufferView": 5, "componentType": 5126, "count": 3706, "type": "VEC3"}, {"bufferView": 6, "componentType": 5126, "count": 3706, "type": "VEC2"}, {"bufferView": 7, "componentType": 5123, "count": 16524, "type": "SCALAR"}, {"bufferView": 8, "componentType": 5126, "count": 384, "max": [0.009643923491239548, 0.3357900381088257, 0.2071036398410797], "min": [-0.016070956364274025, 0.2390938252210617, 0.1312473714351654], "type": "VEC3"}, {"bufferView": 9, "componentType": 5126, "count": 384, "type": "VEC3"}, {"bufferView": 10, "componentType": 5126, "count": 384, "type": "VEC2"}, {"bufferView": 11, "componentType": 5123, "count": 1128, "type": "SCALAR"}], "bufferViews": [{"buffer": 0, "byteLength": 7152, "byteOffset": 0, "target": 34962}, {"buffer": 0, "byteLength": 7152, "byteOffset": 7152, "target": 34962}, {"buffer": 0, "byteLength": 4768, "byteOffset": 14304, "target": 34962}, {"buffer": 0, "byteLength": 4152, "byteOffset": 19072, "target": 34963}, {"buffer": 0, "byteLength": 44472, "byteOffset": 23224, "target": 34962}, {"buffer": 0, "byteLength": 44472, "byteOffset": 67696, "target": 34962}, {"buffer": 0, "byteLength": 29648, "byteOffset": 112168, "target": 34962}, {"buffer": 0, "byteLength": 33048, "byteOffset": 141816, "target": 34963}, {"buffer": 0, "byteLength": 4608, "byteOffset": 174864, "target": 34962}, {"buffer": 0, "byteLength": 4608, "byteOffset": 179472, "target": 34962}, {"buffer": 0, "byteLength": 3072, "byteOffset": 184080, "target": 34962}, {"buffer": 0, "byteLength": 2256, "byteOffset": 187152, "target": 34963}], "samplers": [{"magFilter": 9729, "minFilter": 9987}], "buffers": [{"byteLength": 189408, "uri": "wooden_crate_01.bin"}]}
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diff --git a/src/platform/kpi_rover_worlds/assets/textures/CREDITS.md b/src/platform/kpi_rover_worlds/assets/textures/CREDITS.md
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+# Texture credits
+
+Photo textures from [Poly Haven](https://polyhaven.com), licensed [CC0](https://polyhaven.com/license).
+
+| Texture | Poly Haven asset | Authors | Size covered, m |
+|---|---|---|---|
+| floor_concrete | [concrete_floor_02](https://polyhaven.com/a/concrete_floor_02) | Rob Tuytel | 2.00 |
+| floor_painted_concrete | [concrete_floor_painted](https://polyhaven.com/a/concrete_floor_painted) | Rob Tuytel | 2.00 |
+| floor_asphalt | [asphalt_pit_lane](https://polyhaven.com/a/asphalt_pit_lane) | Dimitrios Savva | 2.00 |
+| floor_wood | [laminate_floor_02](https://polyhaven.com/a/laminate_floor_02) | Dario Barresi, Charlotte Baglioni | 1.70 |
+| floor_tiles | [floor_tiles_06](https://polyhaven.com/a/floor_tiles_06) | Rob Tuytel | 3.00 |
+| floor_carpet | [dirty_carpet](https://polyhaven.com/a/dirty_carpet) | Rohit Seervi | 1.80 |
+| wall_brick | [red_brick_03](https://polyhaven.com/a/red_brick_03) | Rob Tuytel | 1.00 |
+| wall_plaster | [painted_plaster_wall](https://polyhaven.com/a/painted_plaster_wall) | Amal Kumar | 2.00 |
+| wall_concrete | [concrete_wall_007](https://polyhaven.com/a/concrete_wall_007) | Dario Barresi, Rico Cilliers, Charlotte Baglioni | 2.16 |
+| wall_wood | [wood_planks](https://polyhaven.com/a/wood_planks) | Amal Kumar | 1.50 |
+| wall_metal | [corrugated_iron](https://polyhaven.com/a/corrugated_iron) | Jenelle van Heerden, Dimitrios Savva | 1.12 |
+| ground_meadow | [grass_ground](https://polyhaven.com/a/grass_ground) | Charlotte Baglioni | 2.51 |
+| ground_loose_soil | [farm_soil](https://polyhaven.com/a/farm_soil) | Amal Kumar | 2.00 |
+| ground_forest_mud | [mud_forest](https://polyhaven.com/a/mud_forest) | eye-candy.xyz | 2.35 |
+| road_gravel | [gravel_ground_01](https://polyhaven.com/a/gravel_ground_01) | Rob Tuytel | 3.00 |
+| tree_bark | [bark_willow_02](https://polyhaven.com/a/bark_willow_02) | Charlotte Baglioni | 2.15 |
diff --git a/src/platform/kpi_rover_worlds/assets/textures/floor_asphalt/floor_asphalt_albedo.jpg b/src/platform/kpi_rover_worlds/assets/textures/floor_asphalt/floor_asphalt_albedo.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/textures/floor_asphalt/floor_asphalt_roughness.jpg b/src/platform/kpi_rover_worlds/assets/textures/floor_asphalt/floor_asphalt_roughness.jpg
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diff --git a/src/platform/kpi_rover_worlds/assets/textures/floor_carpet/floor_carpet_albedo.jpg b/src/platform/kpi_rover_worlds/assets/textures/floor_carpet/floor_carpet_albedo.jpg
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diff --git a/src/platform/kpi_rover_worlds/common/config/floors.yaml b/src/platform/kpi_rover_worlds/common/config/floors.yaml
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index 0000000..8ad83e6
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/config/floors.yaml
@@ -0,0 +1,49 @@
+# Floor types of sdf.floor.
+#
+# texture  - photo texture directory in assets/textures (see its CREDITS.md),
+#            covering one 'tile' x 'tile' m square. Empty for a plain colored floor.
+# color    - RGB color; multiplied with the texture when it is set.
+# tile     - size of the area one texture covers, m.
+# mu       - surface friction coefficient (approximate values for rubber wheels).
+
+plain:
+  texture: ''
+  color: [0.25, 0.25, 0.25]
+  tile: 2.0
+  mu: 1.0
+
+concrete:
+  texture: floor_concrete
+  color: [1.0, 1.0, 1.0]
+  tile: 2.0
+  mu: 0.9
+
+painted_concrete:
+  texture: floor_painted_concrete
+  color: [1.0, 1.0, 1.0]
+  tile: 2.0
+  mu: 0.7
+
+asphalt:
+  texture: floor_asphalt
+  color: [1.0, 1.0, 1.0]
+  tile: 2.0
+  mu: 1.0
+
+carpet:
+  texture: floor_carpet
+  color: [1.0, 1.0, 1.0]
+  tile: 1.8
+  mu: 0.8
+
+wood:
+  texture: floor_wood
+  color: [1.0, 1.0, 1.0]
+  tile: 1.7
+  mu: 0.6
+
+tiles:
+  texture: floor_tiles
+  color: [1.0, 1.0, 1.0]
+  tile: 3.0
+  mu: 0.5
diff --git a/src/platform/kpi_rover_worlds/common/config/markings.yaml b/src/platform/kpi_rover_worlds/common/config/markings.yaml
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index 0000000..889887c
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/config/markings.yaml
@@ -0,0 +1,38 @@
+# Marking styles of sdf.marking_line and sdf.marking_arc.
+#
+# texture - file from assets/textures with a stripe pattern. One texture
+#           covers a segment 4 line widths long and is repeated along the line.
+#           Empty for a solid colored line.
+# color   - RGB color; multiplied with the texture when it is set.
+
+white:
+  texture: ''
+  color: [1.0, 1.0, 1.0]
+
+yellow:
+  texture: ''
+  color: [1.0, 0.8, 0.0]
+
+red:
+  texture: ''
+  color: [0.85, 0.05, 0.05]
+
+blue:
+  texture: ''
+  color: [0.1, 0.3, 0.9]
+
+green:
+  texture: ''
+  color: [0.0, 0.8, 0.0]
+
+yellow_black:
+  texture: marking_yellow_black.png
+  color: [1.0, 1.0, 1.0]
+
+red_white:
+  texture: marking_red_white.png
+  color: [1.0, 1.0, 1.0]
+
+black_white:
+  texture: marking_black_white.png
+  color: [1.0, 1.0, 1.0]
diff --git a/src/platform/kpi_rover_worlds/common/config/objects.yaml b/src/platform/kpi_rover_worlds/common/config/objects.yaml
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index 0000000..e6238d8
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/config/objects.yaml
@@ -0,0 +1,122 @@
+# Object library for scattered objects (see sdf.scatter_object and scatter.py).
+#
+# kind   - 'item' or 'cone'
+# mesh   - visual mesh in assets
+# size   - bounding box size [x, y, z] in the model frame, m
+# center - bounding box center in the model frame (after 'roll'), m
+# roll   - rotation of the mesh about X, rad: 90 degrees to turn Y-up glTF meshes
+#          to Z-up, plus any rotation to lay the object on the floor
+# mass   - kg
+# shape  - collision shape filling the bounding box: box, cylinder (vertical) or
+#          cone (a base plate 3 cm high and a cylinder of 'radius' above it)
+# texture - optional texture in assets/textures for meshes without materials
+
+cardboard_box_01:
+  kind: item
+  mesh: models/cardboard_box_01/cardboard_box_01.gltf
+  size: [0.387, 0.5159, 0.3418]
+  center: [0.001, -0.0329, 0.1641]
+  roll: 1.5708
+  mass: 0.5
+  shape: box
+plastic_crate_02:
+  kind: item
+  mesh: models/plastic_crate_02/plastic_crate_02.gltf
+  size: [0.5055, 0.4055, 0.2541]
+  center: [0.0, 0.0, 0.127]
+  roll: 1.5708
+  mass: 1.2
+  shape: box
+metal_toolbox:
+  kind: item
+  mesh: models/metal_toolbox/metal_toolbox.gltf
+  size: [0.4, 0.2923, 0.3471]
+  center: [-0.0, 0.0324, 0.1736]
+  roll: 1.5708
+  mass: 3.0
+  shape: box
+wooden_crate_01:
+  kind: item
+  mesh: models/wooden_crate_01/wooden_crate_01.gltf
+  size: [0.8253, 0.409, 0.3496]
+  center: [0.0, -0.0083, 0.1669]
+  roll: 1.5708
+  mass: 6.0
+  shape: box
+wooden_bucket_01:
+  kind: item
+  mesh: models/wooden_bucket_01/wooden_bucket_01.gltf
+  size: [0.367, 0.3422, 0.5499]
+  center: [-0.001, -0.0011, 0.2751]
+  roll: 1.5708
+  mass: 1.5
+  shape: cylinder
+old_tyre:
+  kind: item
+  mesh: models/old_tyre/old_tyre.gltf
+  size: [0.6, 0.6, 0.165]
+  center: [0.0, 0.0, 0.0003]
+  roll: 3.1416
+  mass: 8.0
+  shape: cylinder
+cement_bag:
+  kind: item
+  mesh: models/cement_bag/cement_bag.gltf
+  size: [0.4625, 0.6996, 0.1799]
+  center: [0.0024, -0.0016, 0.0912]
+  roll: 1.5708
+  mass: 25.0
+  shape: box
+traffic_cone_45:
+  kind: cone
+  mesh: meshes/traffic_cone_45.obj
+  texture: traffic_cone.png
+  size: [0.34, 0.34, 0.45]
+  center: [0.0, 0.0, 0.225]
+  roll: 0
+  mass: 1.0
+  shape: cone
+  radius: 0.1
+traffic_cone_30:
+  kind: cone
+  mesh: meshes/traffic_cone_30.obj
+  texture: traffic_cone.png
+  size: [0.24, 0.24, 0.3]
+  center: [0.0, 0.0, 0.15]
+  roll: 0
+  mass: 0.6
+  shape: cone
+  radius: 0.07
+medical_box:
+  kind: item
+  mesh: models/medical_box/medical_box.gltf
+  size: [0.5255, 0.3502, 0.0975]
+  center: [0.0, -0.0028, 0.0488]
+  roll: 1.5708
+  mass: 0.8
+  shape: box
+can_rusted:
+  kind: item
+  mesh: models/can_rusted/can_rusted.gltf
+  size: [0.1245, 0.1247, 0.1514]
+  center: [0.0002, -0.0009, 0.0745]
+  roll: 1.5708
+  mass: 0.4
+  shape: cylinder
+oil_tin:
+  kind: item
+  mesh: models/oil_tin/oil_tin.gltf
+  size: [0.1147, 0.1535, 0.2054]
+  center: [-0.0094, 0.0012, 0.1019]
+  roll: 1.5708
+  mass: 0.6
+  shape: box
+flat_board:
+  kind: item
+  mesh: meshes/flat_board.obj
+  texture: floor_wood
+  size: [0.5, 0.09, 0.018]
+  center: [0.0, 0.0, 0.009]
+  roll: 0
+  mass: 0.4
+  shape: box
diff --git a/src/platform/kpi_rover_worlds/common/config/walls.yaml b/src/platform/kpi_rover_worlds/common/config/walls.yaml
new file mode 100644
index 0000000..71bc94b
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/config/walls.yaml
@@ -0,0 +1,37 @@
+# Wall materials of sdf.wall and sdf.solid_box.
+#
+# texture - photo texture directory in assets/textures (see its CREDITS.md),
+#           made for walls 0.5 m high. Empty for a plain colored wall.
+# color   - RGB color; multiplied with the texture when it is set.
+# segment - length of wall one texture covers, m; walls are built of
+#           segments about this long.
+
+plain:
+  texture: ''
+  color: [0.85, 0.85, 0.82]
+  segment: 1.0
+
+plaster:
+  texture: wall_plaster
+  color: [1.0, 1.0, 1.0]
+  segment: 2.0
+
+brick:
+  texture: wall_brick
+  color: [1.0, 1.0, 1.0]
+  segment: 1.0
+
+concrete:
+  texture: wall_concrete
+  color: [1.0, 1.0, 1.0]
+  segment: 2.16
+
+wood:
+  texture: wall_wood
+  color: [1.0, 1.0, 1.0]
+  segment: 1.5
+
+metal:
+  texture: wall_metal
+  color: [1.0, 1.0, 1.0]
+  segment: 1.12
diff --git a/src/platform/kpi_rover_worlds/common/python/__init__.py b/src/platform/kpi_rover_worlds/common/python/__init__.py
new file mode 100644
index 0000000..ef1f74e
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/__init__.py
@@ -0,0 +1 @@
+"""Worlds of the KPI Rover simulation: see world_info."""
diff --git a/src/platform/kpi_rover_worlds/common/python/gltf.py b/src/platform/kpi_rover_worlds/common/python/gltf.py
new file mode 100644
index 0000000..11ed7a3
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/gltf.py
@@ -0,0 +1,92 @@
+"""
+Minimal glTF reading and writing for the garden meshes.
+
+Gazebo loads glTF coordinates as they are (it does not turn Y-up to Z-up), so
+the meshes written here are in the Gazebo Z-up frame. Texture coordinates
+are written with v pointing down, as glTF has it.
+"""
+
+import json
+import os
+
+import numpy as np
+
+COMPONENT = {5121: np.uint8, 5123: np.uint16, 5125: np.uint32, 5126: np.float32}
+COUNT = {'SCALAR': 1, 'VEC2': 2, 'VEC3': 3, 'VEC4': 4}
+
+
+def read(path):
+    """Read a glTF: return (json, {buffer index: bytes})."""
+    with open(path) as f:
+        gltf = json.load(f)
+    buffers = {}
+    for i, buffer in enumerate(gltf['buffers']):
+        with open(os.path.join(os.path.dirname(path), buffer['uri']), 'rb') as f:
+            buffers[i] = f.read()
+    return gltf, buffers
+
+
+def accessor(gltf, buffers, index):
+    """Data of a glTF accessor as a numpy array."""
+    a = gltf['accessors'][index]
+    view = gltf['bufferViews'][a['bufferView']]
+    dtype = COMPONENT[a['componentType']]
+    n = COUNT[a['type']]
+    offset = view.get('byteOffset', 0) + a.get('byteOffset', 0)
+    stride = view.get('byteStride', 0)
+    data = buffers[view['buffer']]
+    itemsize = np.dtype(dtype).itemsize * n
+    if stride and stride != itemsize:
+        raw = np.frombuffer(data, np.uint8, a['count'] * stride, offset).reshape(-1, stride)[:, :itemsize]
+        return np.frombuffer(raw.tobytes(), dtype).reshape(a['count'], n)
+    return np.frombuffer(data, dtype, a['count'] * n, offset).reshape(a['count'], n)
+
+
+def mesh_data(gltf, buffers, mesh_index):
+    """Positions, normals, uvs and triangle indices of the first primitive of a mesh."""
+    p = gltf['meshes'][mesh_index]['primitives'][0]
+    attrs = p['attributes']
+    return (accessor(gltf, buffers, attrs['POSITION']).astype(np.float32),
+            accessor(gltf, buffers, attrs['NORMAL']).astype(np.float32),
+            accessor(gltf, buffers, attrs['TEXCOORD_0']).astype(np.float32),
+            accessor(gltf, buffers, p['indices']).astype(np.uint32).reshape(-1, 3))
+
+
+def write(path, positions, normals, uvs, faces, material=None, images=()):
+    """
+    Write a one-mesh glTF with a .bin next to it. 'material' is an optional
+    glTF material dict and 'images' a list of image URIs it refers to by index.
+    """
+    positions = np.ascontiguousarray(positions, np.float32)
+    normals = np.ascontiguousarray(normals, np.float32)
+    uvs = np.ascontiguousarray(uvs, np.float32)
+    faces = np.ascontiguousarray(faces, np.uint32).reshape(-1)
+    blobs = [positions.tobytes(), normals.tobytes(), uvs.tobytes(), faces.tobytes()]
+    views, offset = [], 0
+    for i, blob in enumerate(blobs):
+        views.append(dict(buffer=0, byteOffset=offset, byteLength=len(blob), target=34963 if i == 3 else 34962))
+        offset += len(blob)
+    accessors = [
+        dict(bufferView=0, componentType=5126, count=len(positions), type='VEC3',
+             min=positions.min(0).tolist(), max=positions.max(0).tolist()),
+        dict(bufferView=1, componentType=5126, count=len(normals), type='VEC3'),
+        dict(bufferView=2, componentType=5126, count=len(uvs), type='VEC2'),
+        dict(bufferView=3, componentType=5125, count=len(faces), type='SCALAR'),
+    ]
+    primitive = dict(attributes=dict(POSITION=0, NORMAL=1, TEXCOORD_0=2), indices=3)
+    gltf = dict(asset=dict(version='2.0', generator='kpi_rover garden'),
+                scene=0, scenes=[dict(nodes=[0])], nodes=[dict(mesh=0, name='mesh')],
+                meshes=[dict(name='mesh', primitives=[primitive])],
+                accessors=accessors, bufferViews=views,
+                buffers=[dict(uri=os.path.basename(path)[:-5] + '.bin', byteLength=offset)])
+    if material:
+        primitive['material'] = 0
+        gltf['materials'] = [material]
+        if images:
+            gltf['images'] = [dict(uri=uri) for uri in images]
+            gltf['textures'] = [dict(source=i) for i in range(len(images))]
+    with open(path[:-5] + '.bin', 'wb') as f:
+        for blob in blobs:
+            f.write(blob)
+    with open(path, 'w') as f:
+        json.dump(gltf, f)
diff --git a/src/platform/kpi_rover_worlds/common/python/scatter.py b/src/platform/kpi_rover_worlds/common/python/scatter.py
new file mode 100644
index 0000000..66e10b3
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/scatter.py
@@ -0,0 +1,136 @@
+"""
+Random scattering of library objects (objects.yaml) over the free area of a
+world, used by world generators.
+
+The area is a rectangle with shapes in it:
+  - 'keep_out' shapes, where objects are not placed (routes, start points,
+    structures), and
+  - 'obstacles', which the robot cannot pass (walls, structures).
+Shapes are tuples:
+    ('circle', x, y, radius)
+    ('segment', x1, y1, x2, y2, half_width)
+    ('arc', cx, cy, radius, a1, a2, half_width)    counterclockwise from a1 to a2
+    ('rect', x_min, x_max, y_min, y_max)
+
+An object is accepted only if the free space for the robot (everything
+farther than ROBOT_RADIUS from obstacles, objects and the area border) stays
+as connected as it was without objects, so objects never close a passage or
+cut off a part of the area.
+"""
+
+import math
+import random
+import sys
+
+import numpy as np
+from scipy import ndimage
+
+from .sdf import OBJECTS
+
+RESOLUTION = 0.05     # grid cell size, m
+ROBOT_RADIUS = 0.2    # robot footprint radius (0.27 x 0.26 m), m
+GAP = 0.05            # minimal gap between objects and keep-out shapes, m
+ATTEMPTS = 200        # placement attempts per object
+
+
+class Grid:
+    def __init__(self, x_min, x_max, y_min, y_max):
+        self.x_min, self.y_min = x_min, y_min
+        self.nx = int(math.ceil((x_max - x_min) / RESOLUTION))
+        self.ny = int(math.ceil((y_max - y_min) / RESOLUTION))
+        xs = x_min + (np.arange(self.nx) + 0.5) * RESOLUTION
+        ys = y_min + (np.arange(self.ny) + 0.5) * RESOLUTION
+        self.x, self.y = np.meshgrid(xs, ys, indexing='ij')
+
+    def mask(self, shapes, inflate=0.0):
+        """Cells within 'inflate' of any of the shapes."""
+        result = np.zeros((self.nx, self.ny), bool)
+        for shape in shapes:
+            kind, *p = shape
+            if kind == 'circle':
+                x, y, r = p
+                result |= np.hypot(self.x - x, self.y - y) <= r + inflate
+            elif kind == 'segment':
+                x1, y1, x2, y2, half = p
+                dx, dy = x2 - x1, y2 - y1
+                t = np.clip(((self.x - x1) * dx + (self.y - y1) * dy) / max(dx * dx + dy * dy, 1e-12), 0, 1)
+                result |= np.hypot(self.x - x1 - t * dx, self.y - y1 - t * dy) <= half + inflate
+            elif kind == 'arc':
+                cx, cy, r, a1, a2, half = p
+                a = np.mod(np.arctan2(self.y - cy, self.x - cx) - a1, 2 * math.pi)
+                within = a <= (a2 - a1)
+                ring = np.abs(np.hypot(self.x - cx, self.y - cy) - r) <= half + inflate
+                ends = [('circle', cx + r * math.cos(b), cy + r * math.sin(b), half) for b in (a1, a2)]
+                result |= (within & ring) | self.mask(ends, inflate)
+            elif kind == 'rect':
+                x0, x1, y0, y1 = p
+                result |= ((self.x >= x0 - inflate) & (self.x <= x1 + inflate) &
+                           (self.y >= y0 - inflate) & (self.y <= y1 + inflate))
+            else:
+                raise ValueError(f'Unknown shape {kind}.')
+        return result
+
+    def border(self, inflate):
+        """Cells within 'inflate' of the area border."""
+        r = int(math.ceil(inflate / RESOLUTION))
+        result = np.zeros((self.nx, self.ny), bool)
+        result[:r, :] = result[-r:, :] = result[:, :r] = result[:, -r:] = True
+        return result
+
+
+def components(free):
+    """Number of 4-connected components of free cells."""
+    return ndimage.label(free)[1]   # the default structure of ndimage.label is 4-connectivity in 2D
+
+
+def scatter(rng, area, keep_out, obstacles, count, scale=1.0):
+    """
+    Place 'count' random objects of the library (any kind, each type as likely),
+    scaled by 'scale' (for a scaled-down world).
+    Returns ([[type, x, y, yaw], ...], number of objects that did not fit).
+    """
+    types = sorted(OBJECTS)
+    grid = Grid(*area)
+    blocked = grid.mask(keep_out) | grid.mask(obstacles)
+    fixed = grid.mask(obstacles, ROBOT_RADIUS) | grid.border(ROBOT_RADIUS)
+    baseline = components(~fixed)
+    # Cells the robot cannot reach the center of: 'fixed' and the placed objects, inflated by the robot radius.
+    occupied = fixed.copy()
+
+    placed, shapes, skipped = [], [], 0
+    for _ in range(count):
+        type_ = rng.choice(types)
+        sx, sy = (s * scale for s in OBJECTS[type_]['size'][:2])
+        radius = math.hypot(sx, sy) / 2
+        for _ in range(ATTEMPTS):
+            x = rng.uniform(area[0] + radius, area[1] - radius)
+            y = rng.uniform(area[2] + radius, area[3] - radius)
+            if any(math.hypot(x - px, y - py) < radius + pr + GAP for _, px, py, pr in shapes):
+                continue
+            if grid.mask([('circle', x, y, radius)], GAP)[blocked].any():
+                continue
+            circle = ('circle', x, y, radius)
+            with_object = occupied | grid.mask([circle], ROBOT_RADIUS)
+            if components(~with_object) > baseline:
+                continue
+            shapes.append(circle)
+            occupied = with_object
+            placed.append([type_, round(x, 3), round(y, 3), round(rng.uniform(-math.pi, math.pi), 3)])
+            break
+        else:
+            skipped += 1
+    return placed, skipped
+
+
+def scatter_from_args(args, area, keep_out, obstacles, label, scale=1.0):
+    """
+    Scatter objects for world arguments 'objects' (their number) and 'objects_seed'
+    (empty for a new random seed) and print the seed, so the placement can be
+    repeated with objects_seed:=<seed>.
+    """
+    seed = args.get('objects_seed') or str(random.SystemRandom().randrange(1000000))
+    rng = random.Random(f'objects:{seed}')
+    placed, skipped = scatter(rng, area, keep_out, obstacles, int(args.get('objects', 0)), scale)
+    note = f', {skipped} did not fit' if skipped else ''
+    print(f'[{label}] objects_seed:={seed}: {len(placed)} objects placed{note}', file=sys.stderr, flush=True)
+    return placed
diff --git a/src/platform/kpi_rover_worlds/common/python/sdf.py b/src/platform/kpi_rover_worlds/common/python/sdf.py
new file mode 100644
index 0000000..1a9993b
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/sdf.py
@@ -0,0 +1,320 @@
+"""SDF building blocks for the world generators."""
+
+import math
+import os
+import xml.etree.ElementTree as ET
+
+import yaml
+
+from . import textured_box
+from .world_info import CONFIG_DIR, SHARE_DIR
+
+ASSETS_DIR = os.path.join(SHARE_DIR, 'assets')
+TEXTURES_DIR = os.path.join(ASSETS_DIR, 'textures')
+MESHES_DIR = os.path.join(ASSETS_DIR, 'meshes')
+
+
+def _load(name):
+    with open(os.path.join(CONFIG_DIR, name + '.yaml')) as f:
+        return yaml.safe_load(f)
+
+
+FLOORS = _load('floors')
+MARKINGS = _load('markings')
+WALLS = _load('walls')
+OBJECTS = _load('objects')
+
+# Visibility flags; the robot sensor masks are in kpi_rover_description (camera.xacro, lidar.xacro).
+VISIBLE_ALL = 4294967295
+VISIBLE_NO_LIDAR = 4            # grass the robot drives through
+VISIBLE_GUI_ONLY = 2
+VISIBLE_ROBOT_ONLY = 536870912  # bit 29, outside the GUI mask 0x0FFFFFFF
+
+MARKING_THICKNESS = 0.001
+
+
+def num(v):
+    if isinstance(v, bool):
+        return str(v).lower()
+    if isinstance(v, (int, str)):
+        return str(v)
+    text = f'{v:.10g}'
+    return '0' if text == '-0' else text
+
+
+def el(parent, tag, *values, **attrib):
+    e = ET.SubElement(parent, tag, attrib)
+    if values:
+        e.text = ' '.join(map(num, values))
+    return e
+
+
+def to_string(root):
+    ET.indent(root, '  ')
+    return ET.tostring(root, encoding='unicode', xml_declaration=True) + '\n'
+
+
+def material(parent, color, texture=''):
+    """'texture' is an image in assets/textures, or a photo texture directory (name or absolute path)."""
+    m = el(parent, 'material')
+    el(m, 'ambient', *color, 1)
+    el(m, 'diffuse', *color, 1)
+    if texture:
+        metal = el(el(m, 'pbr'), 'metal')
+        name = os.path.basename(texture)
+        if '.' in name:
+            el(metal, 'albedo_map', os.path.join(TEXTURES_DIR, texture))
+            el(metal, 'roughness', '0.9')
+        else:
+            directory = os.path.join(TEXTURES_DIR, texture)
+            for kind in ('albedo', 'normal', 'roughness'):
+                el(metal, f'{kind}_map', f'{directory}/{name}_{kind}.jpg')
+            el(metal, 'roughness', '1.0')
+        el(metal, 'metalness', '0.0')
+
+
+def world(name, shadows=False, sky=(0.7, 0.7, 0.7), skybox=False, ambient=0.6, sun=(-0.3, 0.2, -0.9)):
+    root = ET.Element('sdf', version='1.9')
+    w = el(root, 'world', name=name)
+    for plugin, system in (('physics', 'Physics'), ('user-commands', 'UserCommands'),
+                           ('scene-broadcaster', 'SceneBroadcaster'), ('sensors', 'Sensors'), ('imu', 'Imu')):
+        p = el(w, 'plugin', filename=f'gz-sim-{plugin}-system', name=f'gz::sim::systems::{system}')
+        if system == 'Sensors':
+            el(p, 'render_engine', 'ogre2')
+    el(w, 'gravity', '0 0 -9.8')
+    physics = el(w, 'physics', default='0', name='default_physics', type='ode')
+    el(physics, 'max_step_size', '0.01')
+    el(physics, 'real_time_factor', '1')
+    el(physics, 'real_time_update_rate', '100')
+    scene = el(w, 'scene')
+    el(scene, 'ambient', ambient, ambient, ambient, 1)
+    el(scene, 'background', *sky, 1)
+    el(scene, 'shadows', shadows)
+    if skybox:
+        el(scene, 'sky')
+    light = el(w, 'light', name='sun', type='directional')
+    el(light, 'pose', '0 0 10 0 0 0')
+    el(light, 'diffuse', '0.8 0.8 0.8 1')
+    el(light, 'specular', '0.2 0.2 0.2 1')
+    el(light, 'direction', *sun)
+    el(light, 'cast_shadows', shadows)
+    return root, w
+
+
+def static_model(parent, name, pose=None):
+    """Returns the link of a new static model."""
+    model = el(parent, 'model', name=name)
+    el(model, 'static', 'true')
+    if pose:
+        el(model, 'pose', *pose)
+    return el(model, 'link', name='link')
+
+
+def plane(parent, size_x, size_y):
+    p = el(el(parent, 'geometry'), 'plane')
+    el(p, 'normal', '0 0 1')
+    el(p, 'size', size_x, size_y)
+
+
+def friction(collision, mu):
+    ode = el(el(el(collision, 'surface'), 'friction'), 'ode')
+    el(ode, 'mu', mu)
+    el(ode, 'mu2', mu)
+
+
+def floor(parent, kind, size_x, size_y):
+    """A textured floor is made of tiles, one texture repeat each."""
+    cfg = FLOORS[kind]
+    link = static_model(parent, 'ground_plane')
+    collision = el(link, 'collision', name='collision')
+    plane(collision, size_x, size_y)
+    friction(collision, cfg['mu'])
+    if not cfg['texture']:
+        visual = el(link, 'visual', name='visual')
+        plane(visual, size_x, size_y)
+        material(visual, cfg['color'])
+        return
+    nx, ny = max(1, round(size_x / cfg['tile'])), max(1, round(size_y / cfg['tile']))
+    tx, ty = size_x / nx, size_y / ny
+    for k in range(nx * ny):
+        visual = el(link, 'visual', name=f'tile_{k}')
+        el(visual, 'pose', tx * (k % nx + 0.5 - nx / 2), ty * (k // nx + 0.5 - ny / 2), 0, 0, 0, 0)
+        plane(visual, tx, ty)
+        material(visual, cfg['color'], cfg['texture'])
+
+
+def marking_line(link, name, x1, y1, x2, y2, style, z1=0.0, z2=0.0, width=0.05, start='flat', end='flat', extend=0.0,
+                 fine=False, visibility=VISIBLE_ALL):
+    """
+    start, end: 'flat' (lengthened by 'extend') or 'left'/'right', a 45 degree cut for a corner turning that way.
+    Striped lines are split into segments 4 widths long, 1 width if 'fine' (to follow a curved surface).
+    """
+    cfg = MARKINGS[style]
+    dist = math.dist((x1, y1, z1), (x2, y2, z2))
+    dx, dy, dz = (x2 - x1) / dist, (y2 - y1) / dist, (z2 - z1) / dist
+    yaw, pitch = math.atan2(dy, dx), -math.asin(dz)
+    start_offset = extend if start == 'flat' else -width / 2
+    length = dist + start_offset + (extend if end == 'flat' else -width / 2)
+    bx, by, bz = x1 - dx * start_offset, y1 - dy * start_offset, z1 - dz * start_offset
+    texture = cfg['texture'].replace('.png', '_tile.png') if fine else cfg['texture']
+    n = max(1, round(length / (width if fine else 4 * width))) if fine or texture else 1
+    seg = length / n
+    for k in range(n):
+        s = seg * (k + 0.5)
+        visual = el(link, 'visual', name=f'{name}_{k}')
+        el(visual, 'pose', bx + dx * s, by + dy * s, bz + dz * s + MARKING_THICKNESS / 2, 0, pitch, yaw)
+        el(el(el(visual, 'geometry'), 'box'), 'size', seg, width, MARKING_THICKNESS)
+        material(visual, cfg['color'], texture)
+        el(visual, 'visibility_flags', visibility)
+    for side, turn, x, y in (('start', start, bx, by), ('end', end, bx + dx * length, by + dy * length)):
+        if turn != 'flat':
+            visual = el(link, 'visual', name=f'{name}_{side}_miter')
+            el(visual, 'pose', x, y, 0, 0, 0, yaw)
+            mesh = el(el(visual, 'geometry'), 'mesh')
+            el(mesh, 'uri', f'file://{MESHES_DIR}/miter_{side}_{turn}.obj')
+            el(mesh, 'scale', width, width, MARKING_THICKNESS)
+            material(visual, cfg['color'], cfg['texture'])
+            el(visual, 'visibility_flags', visibility)
+
+
+def marking_arc(link, name, cx, cy, r, a1, a2, style, width=0.05, visibility=VISIBLE_ALL):
+    """Counterclockwise from a1 to a2, of straight segments 4 widths long; alternate ones are raised against z-fighting."""
+    cfg = MARKINGS[style]
+    n = max(1, round((a2 - a1) * r / (4 * width)))
+    step = (a2 - a1) / n
+    for k in range(n):
+        a = a1 + step * (k + 0.5)
+        visual = el(link, 'visual', name=f'{name}_{k}')
+        el(visual, 'pose', cx + r * math.cos(step / 2) * math.cos(a), cy + r * math.cos(step / 2) * math.sin(a),
+           MARKING_THICKNESS / 2 + (k % 2) * 0.0001, 0, 0, a + math.pi / 2)
+        el(el(el(visual, 'geometry'), 'box'), 'size', 2 * r * math.sin(step / 2) + width * math.tan(step / 2), width,
+           MARKING_THICKNESS)
+        material(visual, cfg['color'], cfg['texture'])
+        el(visual, 'visibility_flags', visibility)
+
+
+def mesh_visual(link, name, mesh):
+    visual = el(link, 'visual', name=name)
+    el(el(el(visual, 'geometry'), 'mesh'), 'uri', f'file://{mesh}')
+    return visual
+
+
+def start_point(parent, name, x, y, yaw, z=0.0):
+    """Robot footprint and heading arrow, GUI only; the launch file finds it by the model name."""
+    link = static_model(parent, f'start_point_{name}', (x, y, z + 0.001, 0, 0, yaw))
+    corners = [(0.15, -0.15), (0.15, 0.15), (-0.15, 0.15), (-0.15, -0.15)]
+    for i, side in enumerate(('front', 'left', 'back', 'right')):
+        marking_line(link, f'outline_{side}', *corners[i], *corners[(i + 1) % 4], 'green', width=0.01,
+                     start='left', end='left', visibility=VISIBLE_GUI_ONLY)
+    marking_line(link, 'arrow_shaft', -0.15, -0.25, 0.15, -0.25, 'green', width=0.02, visibility=VISIBLE_GUI_ONLY)
+    visual = el(link, 'visual', name='arrow_head')
+    polyline = el(el(visual, 'geometry'), 'polyline')
+    for point in ('0.15 -0.31', '0.27 -0.25', '0.15 -0.19'):
+        el(polyline, 'point', point)
+    el(polyline, 'height', '0.001')
+    material(visual, MARKINGS['green']['color'])
+    el(visual, 'visibility_flags', VISIBLE_GUI_ONLY)
+
+
+def box_geometry(parent, sx, sy, sz, mesh=''):
+    geometry = el(parent, 'geometry')
+    if mesh:
+        el(el(geometry, 'mesh'), 'uri', f'file://{mesh}')
+    else:
+        el(el(geometry, 'box'), 'size', sx, sy, sz)
+
+
+def solid_box(link, name, x, y, z, sx, sy, sz, color=None, wall_material=None, pitch=0, yaw=0, view='solid',
+              transparency=0.7, footprint_scale=1, footprint_color=None):
+    """
+    Box with a collision; a wall_material of walls.yaml gives its color and texture at the real size.
+    view (GUI only): solid, transparent, hidden, or marking - its footprint, footprint_scale as wide.
+    """
+    texture = mesh = ''
+    if wall_material:
+        cfg = WALLS[wall_material]
+        color, texture = cfg['color'], cfg['texture']
+        if texture:
+            mesh = textured_box.box_mesh(sx, sy, sz, cfg['segment'], textured_box.WALL_TEXTURE_HEIGHT, z - sz / 2)
+    pose = (x, y, z, 0, pitch, yaw)
+    collision = el(link, 'collision', name=f'{name}_collision')
+    el(collision, 'pose', *pose)
+    box_geometry(collision, sx, sy, sz)
+    visual = el(link, 'visual', name=f'{name}_visual')
+    el(visual, 'pose', *pose)
+    box_geometry(visual, sx, sy, sz, mesh)
+    material(visual, color, texture)
+    el(visual, 'visibility_flags', VISIBLE_ALL if view == 'solid' else VISIBLE_ROBOT_ONLY)
+    if view == 'transparent':
+        visual = el(link, 'visual', name=f'{name}_gui_visual')
+        el(visual, 'pose', *pose)
+        box_geometry(visual, sx, sy, sz, mesh)
+        material(visual, color, texture)
+        el(visual, 'transparency', transparency)
+        el(visual, 'visibility_flags', VISIBLE_GUI_ONLY)
+    if view == 'marking':
+        visual = el(link, 'visual', name=f'{name}_footprint')
+        el(visual, 'pose', x, y, 0.0015, 0, 0, yaw)
+        box_geometry(visual, sx, sy * footprint_scale, 0.001)
+        material(visual, footprint_color or color)
+        el(visual, 'visibility_flags', VISIBLE_GUI_ONLY)
+
+
+def wall(link, name, x, y, yaw, length, height=0.5, thickness=0.05, material='plain', view='solid'):
+    solid_box(link, name, x, y, height / 2, length, thickness, height, wall_material=material, yaw=yaw, view=view,
+              transparency=0.35, footprint_color=WALLS['plain']['color'])
+
+
+def perimeter_walls(parent, size_x, size_y, material, height=0.5, thickness=0.1):
+    link = static_model(parent, 'perimeter_walls')
+    for name, x, y, yaw, length in (('north', 0, (size_y + thickness) / 2, 0, size_x + 2 * thickness),
+                                    ('south', 0, -(size_y + thickness) / 2, math.pi, size_x + 2 * thickness),
+                                    ('east', (size_x + thickness) / 2, 0, math.pi / 2, size_y),
+                                    ('west', -(size_x + thickness) / 2, 0, -math.pi / 2, size_y)):
+        wall(link, name, x, y, yaw, length, height, thickness, material)
+
+
+def scatter_object(parent, name, kind, x, y, yaw, z=0.0, scale=1.0):
+    """An object of objects.yaml, its origin on the ground under its center; mass scales with the volume."""
+    cfg = OBJECTS[kind]
+    k = float(scale)
+    sx, sy, sz = (v * k for v in cfg['size'])
+    mass = cfg['mass'] * k ** 3
+    model = el(parent, 'model', name=name)
+    el(model, 'pose', x, y, z, 0, 0, yaw)
+    link = el(model, 'link', name='link')
+    inertial = el(link, 'inertial')
+    el(inertial, 'pose', 0, 0, sz / 2, 0, 0, 0)
+    el(inertial, 'mass', mass)
+    inertia = el(inertial, 'inertia')
+    el(inertia, 'ixx', mass * (sy ** 2 + sz ** 2) / 12)
+    el(inertia, 'iyy', mass * (sx ** 2 + sz ** 2) / 12)
+    el(inertia, 'izz', mass * (sx ** 2 + sy ** 2) / 12)
+    for axes in ('ixy', 'ixz', 'iyz'):
+        el(inertia, axes, 0)
+    if cfg['shape'] == 'box':
+        _object_collision(link, 'collision', sz / 2, 'box', size=(sx, sy, sz))
+    elif cfg['shape'] == 'cylinder':
+        _object_collision(link, 'collision', sz / 2, 'cylinder', radius=max(sx, sy) / 2, length=sz)
+    else:
+        base = 0.03 * k     # cone base plate
+        _object_collision(link, 'base_collision', base / 2, 'box', size=(sx, sy, base))
+        _object_collision(link, 'body_collision', (sz + base) / 2, 'cylinder', radius=cfg['radius'] * k,
+                          length=sz - base)
+    visual = el(link, 'visual', name='visual')
+    cx, cy, cz = (v * k for v in cfg['center'])
+    el(visual, 'pose', -cx, -cy, sz / 2 - cz, cfg['roll'], 0, 0)
+    mesh = el(el(visual, 'geometry'), 'mesh')
+    el(mesh, 'uri', f"file://{ASSETS_DIR}/{cfg['mesh']}")
+    el(mesh, 'scale', k, k, k)
+    if 'texture' in cfg:
+        material(visual, (1, 1, 1), cfg['texture'])
+
+
+def _object_collision(link, name, z, shape, **dims):
+    collision = el(link, 'collision', name=name)
+    el(collision, 'pose', 0, 0, z, 0, 0, 0)
+    geometry = el(el(collision, 'geometry'), shape)
+    for dim, value in dims.items():
+        el(geometry, dim, *(value if isinstance(value, tuple) else (value,)))
+    friction(collision, 0.6)
diff --git a/src/platform/kpi_rover_worlds/common/python/textured_box.py b/src/platform/kpi_rover_worlds/common/python/textured_box.py
new file mode 100644
index 0000000..e7567dd
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/textured_box.py
@@ -0,0 +1,64 @@
+"""
+Box meshes with texture coordinates in metres, for textured walls and arches.
+
+A box primitive maps a texture onto each whole face, so a wall texture made
+for a wall 'segment' m long and WALL_TEXTURE_HEIGHT m high (walls.yaml) is
+stretched or squashed on boxes of other sizes, e.g. short walls and arch
+posts. These meshes keep the texture at its real size on every face, with
+the texture height counted from the floor (a lintel shows the top of the
+texture, as the wall around it does). sdf.solid_box makes them for its wall materials.
+"""
+
+import hashlib
+import os
+
+CACHE_DIR = os.path.join(os.path.expanduser('~'), '.cache', 'kpi_rover', 'meshes')
+WALL_TEXTURE_HEIGHT = 0.5
+
+
+def box_mesh(sx, sy, sz, tile_u, tile_v, z0=0.0):
+    """
+    OBJ path of a box centered at the origin (sx along X, sy along Y, sz up)
+    whose bottom is z0 above the floor, with texture coordinates in units of
+    tile_u along the box and tile_v up; written to CACHE_DIR if missing.
+    """
+    name = 'box_' + hashlib.sha1(repr((round(sx, 4), round(sy, 4), round(sz, 4), round(tile_u, 4), round(tile_v, 4),
+                                       round(z0, 4))).encode()).hexdigest()[:12] + '.obj'
+    path = os.path.join(CACHE_DIR, name)
+    if os.path.isfile(path):
+        return path
+    hx, hy, hz = sx / 2, sy / 2, sz / 2
+
+    def v(z):
+        return (z0 + z + hz) / tile_v
+
+    # Each face: normal, corners counterclockwise seen from outside, their texture coordinates.
+    faces = [
+        ((0, -1, 0), [(-hx, -hy, -hz), (hx, -hy, -hz), (hx, -hy, hz), (-hx, -hy, hz)],
+         [((x + hx) / tile_u, v(z)) for x, _, z in [(-hx, 0, -hz), (hx, 0, -hz), (hx, 0, hz), (-hx, 0, hz)]]),
+        ((0, 1, 0), [(hx, hy, -hz), (-hx, hy, -hz), (-hx, hy, hz), (hx, hy, hz)],
+         [((hx - x) / tile_u, v(z)) for x, _, z in [(hx, 0, -hz), (-hx, 0, -hz), (-hx, 0, hz), (hx, 0, hz)]]),
+        ((1, 0, 0), [(hx, -hy, -hz), (hx, hy, -hz), (hx, hy, hz), (hx, -hy, hz)],
+         [((y + hy) / tile_u, v(z)) for _, y, z in [(0, -hy, -hz), (0, hy, -hz), (0, hy, hz), (0, -hy, hz)]]),
+        ((-1, 0, 0), [(-hx, hy, -hz), (-hx, -hy, -hz), (-hx, -hy, hz), (-hx, hy, hz)],
+         [((hy - y) / tile_u, v(z)) for _, y, z in [(0, hy, -hz), (0, -hy, -hz), (0, -hy, hz), (0, hy, hz)]]),
+        ((0, 0, 1), [(-hx, -hy, hz), (hx, -hy, hz), (hx, hy, hz), (-hx, hy, hz)],
+         [((x + hx) / tile_u, (y + hy) / tile_u) for x, y, _ in [(-hx, -hy, 0), (hx, -hy, 0), (hx, hy, 0), (-hx, hy, 0)]]),
+        ((0, 0, -1), [(-hx, hy, -hz), (hx, hy, -hz), (hx, -hy, -hz), (-hx, -hy, -hz)],
+         [((x + hx) / tile_u, (y + hy) / tile_u) for x, y, _ in [(-hx, hy, 0), (hx, hy, 0), (hx, -hy, 0), (-hx, -hy, 0)]]),
+    ]
+    lines = ['# Textured box, generated by textured_box.py']
+    elements = []
+    for i, (normal, corners, uvs) in enumerate(faces):
+        lines += ['v {:.5f} {:.5f} {:.5f}'.format(*c) for c in corners]
+        lines += ['vt {:.5f} {:.5f}'.format(*uv) for uv in uvs]
+        lines.append('vn {:.1f} {:.1f} {:.1f}'.format(*normal))
+        k = 4 * i
+        elements.append(' '.join(f'{k + j + 1}/{k + j + 1}/{i + 1}' for j in range(4)))
+    lines += ['f ' + e for e in elements]
+    os.makedirs(CACHE_DIR, exist_ok=True)
+    tmp = path + f'.{os.getpid()}.tmp'
+    with open(tmp, 'w') as f:
+        f.write('\n'.join(lines) + '\n')
+    os.replace(tmp, path)
+    return path
diff --git a/src/platform/kpi_rover_worlds/common/python/world_info.py b/src/platform/kpi_rover_worlds/common/python/world_info.py
new file mode 100644
index 0000000..cf0e46d
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/common/python/world_info.py
@@ -0,0 +1,449 @@
+"""
+Descriptions of the worlds and their arguments, and building their SDF, for
+the launch file and for tools such as a GUI.
+
+Every world has a directory of its own, worlds/<name>/, with the world file
+<name>.world (SDF) or <name>.py, a configurable world whose build(args)
+returns the SDF root (see sdf.py) for {arg: parsed value}, and a manifest
+<name>.yaml describing the world and each of its arguments:
+
+    title: Garden
+    description: Apple orchard in the steppe with a field road around it.
+    start_points:                 # named start points (see the 'start' launch argument)
+      road_a: South side of the road
+      garden_a: West part of the orchard
+    groups:                       # optional: order of argument groups in a UI
+      terrain: Terrain
+    args:
+      relief:
+        type: choice              # bool, int, float, string, choice
+        choices: [steppe, hills]  # for 'choice'; or choices_from: floors
+                                  # (a common/config/<name>.yaml file)
+        label: Relief
+        description: ...
+        group: terrain
+      terrain_seed: {type: int, min: 0, default: 11, label: Terrain seed}
+      friction: {type: float, label: Friction, advanced: true}   # shown under 'more options' in a UI
+      seed: {type: int, show_if: {maze: random}}   # shown only while other arguments have these values
+    presets:                      # optional: ready sets of arguments
+      light:
+        label: Light
+        description: No grass and shadows, the fastest simulation.
+        args: {grass: 0, shadows: false}
+    previews: ...                 # optional: pictures, see render_previews.py
+    objects_scale: 0.345          # optional: size of library objects in a scaled-down world
+
+Pictures rendered by render_previews.py are in worlds/<name>/previews/:
+describe() gives their paths as 'image' of the world, of each start point
+and of each preset, 'layers' {base, overlay} names the two arguments whose
+pictures are put one over the other (the overlay ones are transparent PNG),
+and as 'images' [{value, image}] of the arguments.
+
+Command line, for tools:
+    python3 -m kpi_rover_worlds.world_info --json    # all worlds, their arguments and defaults
+    python3 -m kpi_rover_worlds.world_info --check   # manifests match the worlds
+    python3 -m kpi_rover_worlds.world_info --build garden grass:=0.5 mud:=0.25   # prints the world file
+"""
+
+import hashlib
+import json
+import os
+import sys
+import xml.etree.ElementTree as ET
+
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+SHARE_DIR = get_package_share_directory('kpi_rover_worlds')
+WORLDS_DIR = os.path.join(SHARE_DIR, 'worlds')
+CONFIG_DIR = os.path.join(SHARE_DIR, 'common', 'config')
+EXTENSIONS = ('.py', '.world')
+# World files built by build(): the CACHE_KEEP most recently used are kept.
+CACHE_DIR = os.path.join(os.path.expanduser('~'), '.cache', 'kpi_rover', 'worlds')
+CACHE_KEEP = 20
+TYPES = ('bool', 'int', 'float', 'string', 'choice')
+
+
+def world_name(filename):
+    """World name for a world file name, or None if it is not a world file."""
+    for ext in EXTENSIONS:
+        if filename.endswith(ext):
+            return filename[:-len(ext)]
+    return None
+
+
+def world_files(worlds_dir=WORLDS_DIR):
+    """{name: path} of the worlds: <name>/<name>.py or <name>/<name>.world in the worlds folder."""
+    files = {}
+    for name in sorted(os.listdir(worlds_dir)):
+        for ext in EXTENSIONS:
+            path = os.path.join(worlds_dir, name, name + ext)
+            if os.path.isfile(path):
+                files[name] = path
+                break
+    return files
+
+
+def declared_args(path):
+    """{name: default as text} of the arguments of a configurable world, in order; empty for an SDF world."""
+    return {arg: as_text(spec['default']) for arg, spec in (manifest(path).get('args') or {}).items()
+            if 'default' in (spec or {})}
+
+
+def as_text(value):
+    """A manifest value (YAML: bool, number or string) as given on the command line."""
+    return str(value).lower() if isinstance(value, bool) else str(value)
+
+
+def resolve(world, worlds_dir=WORLDS_DIR):
+    """Path of a world given by name or by path; raise ValueError if there is none."""
+    if os.path.isfile(world):
+        return os.path.abspath(world)
+    files = world_files(worlds_dir)
+    if world in files:
+        return files[world]
+    raise ValueError(f"World '{world}' not found. Available worlds: {', '.join(files)} "
+                     f"(or pass a path to a world file).")
+
+
+_generators = {}
+
+
+def generator(path):
+    """The module of a <name>.py world, loaded once."""
+    if path not in _generators:
+        import importlib.util
+        world_dir = os.path.dirname(path)
+        spec = importlib.util.spec_from_file_location(f'kpi_rover_world_{os.path.basename(world_dir)}', path)
+        module = importlib.util.module_from_spec(spec)
+        # Its own modules (e.g. garden/terrain.py) are found next to it while it is imported.
+        sys.path.insert(0, world_dir)
+        try:
+            spec.loader.exec_module(module)
+        finally:
+            sys.path.remove(world_dir)
+        _generators[path] = module
+    return _generators[path]
+
+
+def world_sdf(path, args, worlds_dir=WORLDS_DIR):
+    """SDF of a world file: an SDF file as it is, or a <name>.py world built for {arg: string value}."""
+    if not path.endswith('.py'):
+        with open(path) as f:
+            return f.read()
+    validate(path, args, worlds_dir)
+    from .sdf import to_string
+    specs = describe(path, worlds_dir)['args']
+    values = {arg: spec['default'] for arg, spec in specs.items()}
+    values.update({arg: parse(specs[arg], value) for arg, value in args.items()})
+    return to_string(generator(path).build(values))
+
+
+def parse_args(text):
+    """{name: value} of world arguments given as space separated 'name:=value' pairs."""
+    args = {}
+    for pair in text.split():
+        name, sep, value = pair.partition(':=')
+        if not sep:
+            raise ValueError(f"Invalid world argument '{pair}', expected 'name:=value'.")
+        args[name] = value
+    return args
+
+
+def build(world, args, worlds_dir=WORLDS_DIR):
+    """
+    Path of an SDF file for Gazebo of a world given by name or path: an SDF file as it is, or a configurable
+    world built with {arg: string value}, checked against its manifest, into CACHE_DIR/<name>_<hash>.world.
+    """
+    path = resolve(world, worlds_dir)
+    if not path.endswith('.py'):
+        if args:
+            raise ValueError(f"{os.path.basename(path)} is not a configurable world, it takes no arguments.")
+        return path
+    sdf = world_sdf(path, args, worlds_dir)
+    os.makedirs(CACHE_DIR, exist_ok=True)
+    digest = hashlib.sha1(sdf.encode()).hexdigest()[:12]
+    file = os.path.join(CACHE_DIR, f'{world_name(os.path.basename(path))}_{digest}.world')
+    if not os.path.isfile(file):
+        tmp = f'{file}.{os.getpid()}.tmp'   # several launches may build the same world at once
+        with open(tmp, 'w') as f:
+            f.write(sdf)
+        os.replace(tmp, file)
+    os.utime(file)      # marks it as recently used
+    clean_cache()
+    return file
+
+
+def clean_cache(keep=CACHE_KEEP):
+    """Remove the least recently used world files from CACHE_DIR, keeping 'keep' of them."""
+    files = [os.path.join(CACHE_DIR, f) for f in os.listdir(CACHE_DIR) if f.endswith('.world')]
+    files.sort(key=os.path.getmtime)
+    for file in files[:-keep]:
+        try:
+            os.remove(file)
+        except FileNotFoundError:
+            pass        # removed by another launch
+
+
+def start_poses(sdf):
+    """{name: (x, y, z, yaw)} of the start points of an SDF world: models named start_point_<name>."""
+    poses = {}
+    for model in ET.fromstring(sdf).iter('model'):
+        name = model.get('name', '')
+        if name.startswith('start_point_'):
+            x, y, z, _, _, yaw = map(float, model.findtext('pose', '0 0 0 0 0 0').split())
+            poses[name[len('start_point_'):]] = (x, y, z, yaw)
+    return poses
+
+
+def start_pose(path, name):
+    """(x, y, z, yaw) of a start point of an SDF world file; raise ValueError if there is none."""
+    with open(path) as f:
+        poses = start_poses(f.read())
+    if name not in poses:
+        raise ValueError(f"Start point '{name}' not found. Start points of the world: {', '.join(sorted(poses)) or 'none'}.")
+    return poses[name]
+
+
+def options(name, worlds_dir=WORLDS_DIR):
+    """Option names from a common/config YAML file (floors, markings, walls)."""
+    with open(os.path.join(os.path.dirname(worlds_dir), 'common', 'config', name + '.yaml')) as f:
+        return list(yaml.safe_load(f))
+
+
+def manifest(path):
+    """The manifest of a world file (<name>.yaml next to it), or an empty one."""
+    name = world_name(os.path.basename(path))
+    m = os.path.join(os.path.dirname(path), f'{name}.yaml') if name else None
+    if m and os.path.isfile(m):
+        with open(m) as f:
+            return yaml.safe_load(f) or {}
+    return {}
+
+
+def describe(path, worlds_dir=WORLDS_DIR):
+    """
+    Description of a world file: {name, file, title, description, image, start_points: [{name, label, image}],
+    groups, presets: [{name, label, description, args}],
+    args: {name: {type, default, label, description, group, advanced, choices, min, max, images, ...}}}.
+    Images are paths of existing pictures or absent.
+    """
+    m = manifest(path)
+    name = world_name(os.path.basename(path))
+    pictures = os.path.join(os.path.dirname(path), 'previews')
+
+    layers = (m.get('previews') or {}).get('layers')
+    overlay = layers['overlay']['arg'] if layers else None
+
+    def picture(filename):
+        # Overlay pictures are transparent PNG only (a JPEG of the same name would be a whole old frame).
+        for ext in (('.png',) if overlay and filename.startswith(overlay + '_') else ('.jpg', '.png')):
+            file = os.path.join(pictures, filename + ext)
+            if os.path.isfile(file):
+                return file
+        return None
+
+    info = dict(name=name, file=path, title=m.get('title', name), description=m.get('description', ''),
+                image=picture('world'), objects_scale=m.get('objects_scale', 1.0),
+                start_points=start_point_list(m), groups=m.get('groups', {}),
+                presets=preset_list(m), args={})
+    for point in info['start_points']:
+        point['image'] = picture('start_' + point['name'])
+    for preset in info['presets']:
+        preset['image'] = picture('preset_' + preset['name'])
+    if layers:
+        info['layers'] = dict(base=layers['base']['arg'], overlay=layers['overlay']['arg'])
+    if not path.endswith('.py'):
+        return info
+    specs = m.get('args', {})
+    for arg, default in declared_args(path).items():
+        spec = dict(specs.get(arg) or {})
+        if 'choices_from' in spec:
+            spec['choices'] = options(spec.pop('choices_from'), worlds_dir)
+        spec.setdefault('type', 'choice' if 'choices' in spec else 'string')
+        spec.setdefault('label', arg)
+        spec['default'] = parse(spec, default) if default != '' else default
+        previews = m.get('previews') or {}
+        examples = (previews.get('args') or {}).get(arg, {}).get('values', [])
+        for layer in ((previews.get('layers') or {}).get(k) for k in ('base', 'overlay')):
+            if layer and layer['arg'] == arg:
+                examples = layer['values']
+        images = [dict(value=parse(spec, str(v)), image=picture(f'{arg}_{format_value(spec, parse(spec, str(v)))}'))
+                  for v in examples]
+        spec['images'] = [i for i in images if i['image']]
+        info['args'][arg] = spec
+    return info
+
+
+def format_value(spec, value):
+    """The string form of a parsed argument value, as given on the command line."""
+    if spec.get('type') == 'bool':
+        return 'true' if value else 'false'
+    if spec.get('type') == 'float':
+        return f'{value:g}'
+    return str(value)
+
+
+def preset_list(m):
+    """[{name, label, description, args: {name: string value}}] of the presets of a manifest."""
+    return [dict(name=str(n), label=p.get('label', str(n)), description=p.get('description', ''),
+                 args={k: as_text(v) for k, v in (p.get('args') or {}).items()})
+            for n, p in (m.get('presets') or {}).items()]
+
+
+def start_point_list(m):
+    """[{name, label}] of the start points of a manifest; they can be listed as names or as {name: label}."""
+    points = m.get('start_points') or []
+    if isinstance(points, dict):
+        return [dict(name=str(n), label=label or str(n)) for n, label in points.items()]
+    return [dict(name=str(n), label=str(n)) for n in points]
+
+
+def describe_all(worlds_dir=WORLDS_DIR):
+    return [describe(path, worlds_dir) for path in world_files(worlds_dir).values()]
+
+
+def parse(spec, value):
+    """Parse a string world argument value by its spec; raise ValueError if it is not valid."""
+    kind = spec.get('type', 'string')
+    if kind == 'bool':
+        if str(value).lower() in ('true', '1'):
+            return True
+        if str(value).lower() in ('false', '0'):
+            return False
+        raise ValueError(f"expected true or false, got '{value}'")
+    if kind in ('int', 'float'):
+        try:
+            v = int(value) if kind == 'int' else float(value)
+        except ValueError:
+            raise ValueError(f"expected {'an integer' if kind == 'int' else 'a number'}, got '{value}'")
+        if 'min' in spec and v < spec['min'] or 'max' in spec and v > spec['max']:
+            raise ValueError(f"expected a value from {spec.get('min', '-inf')} to {spec.get('max', 'inf')}, got {v}")
+        return v
+    if kind == 'choice' and value not in spec.get('choices', []):
+        raise ValueError(f"expected one of {', '.join(map(str, spec.get('choices', [])))}, got '{value}'")
+    return value
+
+
+def validate(path, values, worlds_dir=WORLDS_DIR):
+    """Check {arg: string value} for a world; raise ValueError naming the argument at the first problem."""
+    info = describe(path, worlds_dir)
+    declared = declared_args(path)
+    for arg, value in values.items():
+        if arg not in declared:
+            raise ValueError(f"Unknown world argument '{arg}'. Arguments of {os.path.basename(path)}: "
+                             f"{', '.join(info['args'])}.")
+        try:
+            parse(info['args'][arg], value)
+        except ValueError as e:
+            raise ValueError(f"World argument '{arg}': {e}.") from e
+
+
+def promised_previews(m, info):
+    """Names (without extension) of the pictures in previews/ that the manifest asks render_previews.py for."""
+    previews = m.get('previews') or {}
+    names = ['world'] if previews.get('world') else []
+    if previews.get('start_points'):
+        names += ['start_' + p['name'] for p in info['start_points']]
+    if previews.get('presets'):
+        names += ['preset_' + p['name'] for p in info['presets']]
+    examples = {arg: e.get('values', []) for arg, e in (previews.get('args') or {}).items()}
+    for layer in ((previews.get('layers') or {}).get(k) for k in ('base', 'overlay')):
+        if layer:
+            examples[layer['arg']] = layer['values']
+    for arg, values in examples.items():
+        spec = info['args'].get(arg)
+        if spec:  # an unknown argument is reported by check()
+            names += [f'{arg}_{format_value(spec, parse(spec, str(v)))}' for v in values]
+    return names
+
+
+def check(worlds_dir=WORLDS_DIR):
+    """
+    Problems of the worlds: pictures the manifest asks for are missing; arguments without a default, bad specs.
+    """
+    problems = []
+    for name, path in world_files(worlds_dir).items():
+        m = manifest(path)
+        pictures = os.path.join(os.path.dirname(path), 'previews')
+        try:
+            for picture in promised_previews(m, describe(path, worlds_dir)):
+                if not any(os.path.isfile(os.path.join(pictures, picture + ext)) for ext in ('.jpg', '.png')):
+                    problems.append(f'{name}: no picture previews/{picture}.jpg (render_previews.py {name})')
+        except ValueError:
+            pass  # bad example values are reported below
+        if not path.endswith('.py'):
+            continue
+        if not m:
+            problems.append(f'{name}: no manifest {name}.yaml')
+            continue
+        declared = declared_args(path)
+        for arg, spec in m.get('args', {}).items():
+            if arg not in declared:
+                problems.append(f'{name}: argument {arg} has no default')
+            else:
+                kind = spec.get('type', 'choice' if 'choices' in spec or 'choices_from' in spec else 'string')
+                if kind not in TYPES:
+                    problems.append(f'{name}: argument {arg} has an unknown type {kind}')
+                try:
+                    if declared[arg] != '':
+                        parse(dict(spec, choices=options(spec['choices_from'], worlds_dir)) if 'choices_from' in spec
+                              else spec, declared[arg])
+                except ValueError as e:
+                    problems.append(f'{name}: default of {arg}: {e}')
+        info = describe(path, worlds_dir)
+        for preset in info['presets']:
+            try:
+                validate(path, preset['args'], worlds_dir)
+            except ValueError as e:
+                problems.append(f"{name}: preset {preset['name']}: {e}")
+        for arg, spec in info['args'].items():
+            for other, value in (spec.get('show_if') or {}).items():
+                if other not in info['args']:
+                    problems.append(f'{name}: show_if of {arg}: unknown argument {other}')
+                    continue
+                try:
+                    parse(info['args'][other], str(value))
+                except ValueError as e:
+                    problems.append(f'{name}: show_if of {arg}: {e}')
+        previews = m.get('previews') or {}
+        cameras = previews.get('cameras') or {}
+        for arg, example in (previews.get('args') or {}).items():
+            if arg not in info['args']:
+                problems.append(f'{name}: previews of an unknown argument {arg}')
+                continue
+            if example.get('camera') not in cameras:
+                problems.append(f"{name}: previews of {arg}: unknown camera {example.get('camera')}")
+            for value in example.get('values', []):
+                try:
+                    parse(info['args'][arg], str(value))
+                except ValueError as e:
+                    problems.append(f'{name}: previews of {arg}: {e}')
+        if previews.get('world') and previews['world'] not in cameras:
+            problems.append(f"{name}: previews: unknown world camera {previews['world']}")
+    return problems
+
+
+def main():
+    if len(sys.argv) > 2 and sys.argv[1] == '--build':
+        try:
+            print(build(sys.argv[2], parse_args(' '.join(sys.argv[3:]))))
+        except ValueError as e:
+            sys.exit(str(e))
+        return
+    if '--check' in sys.argv:
+        problems = check()
+        print('\n'.join(problems) or 'All world manifests match their worlds.')
+        sys.exit(1 if problems else 0)
+    if '--json' in sys.argv:
+        print(json.dumps(describe_all(), ensure_ascii=False, indent=1))
+        return
+    for info in describe_all():
+        print(f"{info['name']}: {info['title']}")
+        for arg, spec in info['args'].items():
+            choices = f" ({', '.join(map(str, spec['choices']))})" if 'choices' in spec else ''
+            print(f"    {arg} = {spec['default']}  [{spec['type']}{choices}]  {spec.get('label', '')}")
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/platform/kpi_rover_worlds/package.xml b/src/platform/kpi_rover_worlds/package.xml
new file mode 100644
index 0000000..3ef5e45
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>kpi_rover_worlds</name>
+  <version>0.0.0</version>
+  <description>Gazebo worlds for the KPI Rover simulation</description>
+  <maintainer email="rover@todo.todo">rover</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <exec_depend>ament_index_python</exec_depend>
+  <!-- render_previews.py and spawn_object.py: gz sim and its Python bindings -->
+  <exec_depend>gz_msgs_vendor</exec_depend>
+  <exec_depend>gz_sim_vendor</exec_depend>
+  <exec_depend>gz_transport_vendor</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-pil</exec_depend>
+  <exec_depend>python3-scipy</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/platform/kpi_rover_worlds/tools/render_previews.py b/src/platform/kpi_rover_worlds/tools/render_previews.py
new file mode 100755
index 0000000..b6edb95
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/tools/render_previews.py
@@ -0,0 +1,458 @@
+#!/usr/bin/env python3
+"""
+Render the preview pictures of a world for tools such as a GUI: a picture of
+the world, a view from the robot camera at each start point, and example
+pictures of argument values. What to render is in the 'previews' section of
+the world manifest (see world_info.py of kpi_rover_worlds):
+
+    previews:
+      cameras:                    # name: [x, y, z, roll, pitch, yaw, horizontal fov], degrees
+        over: [-11, -11, 4, 0, 18, 45, 70]
+        close: [-2, -2, 0.25, 0, 25, 30, 60]
+      gui_cameras: [over]         # cameras that see what the Gazebo window shows (default: the robot camera)
+      world: over                 # camera of the world picture
+      start_points: true          # robot camera views from the start points
+      map: {center: [0, 0], size: 21}   # where the map made with --sdf is: the square of 'size' m seen
+                                        # from right above, or {fit: <model>, margin: 0.3}: around the plane of that model
+      presets: true               # a picture of each preset of the world (with the world camera)
+      layers:                     # instead of examples of every combination of two arguments:
+        camera: over              # the base pictures, with the overlay models hidden, and
+        base: {arg: floor, values: [plain, wood], hide: [square_marking]}
+        overlay: {arg: marking, values: [white, red], against: [plain, asphalt]}   # the overlay cut out
+      args:                       # example pictures of argument values
+        grass: {camera: close, values: [0, 1, 3]}
+        items: {camera: close, values: [0, 20], with: {objects_seed: 1}}   # 'with': more arguments
+
+The pictures go to worlds/<world>/previews/ or --out: world.jpg, start_<name>.jpg,
+<arg>_<value>.jpg, preset_<name>.jpg, with the other arguments at their defaults.
+Layers make <base arg>_<value>.jpg without the overlay and <overlay arg>_<value>.png,
+the overlay alone on a transparent background, so a tool can put any overlay on
+any base. Needs Gazebo; runs a headless server for each set of world arguments.
+
+    ros2 run kpi_rover_worlds render_previews.py garden --out src/platform/kpi_rover_worlds/worlds/garden/previews
+    ros2 run kpi_rover_worlds render_previews.py garden --only grass,start_points
+
+With --sdf it makes the map of a generated world file, e.g. for a GUI to show
+where the robot can start; --partition keeps its Gazebo apart from a running one:
+    ros2 run kpi_rover_worlds render_previews.py garden --sdf <world file> --out /tmp/map --partition map
+
+map.jpg has north up. map.json: {center: [x, y], size, start_points: {name: [x, y, yaw]},
+heights: ground [[z]], surface: the top of the ground and everything on it [[z]]},
+rows from north to south over the map square.
+"""
+
+import argparse
+import glob
+import json
+import math
+import os
+import re
+import subprocess
+import sys
+import tempfile
+import time
+import xml.etree.ElementTree as ET
+
+import numpy as np
+from PIL import Image
+
+from kpi_rover_worlds import world_info
+
+# The robot camera relative to a start point: ahead, up (m), pitch and horizontal fov (degrees).
+ROBOT_CAMERA = (0.135, 0.31, 3, 70)
+
+# Visibility masks of the preview cameras: like the robot camera (kpi_rover_description/urdf/camera.xacro), which
+# doesn't see helpers shown only in the Gazebo window, or like the Gazebo window itself (cameras
+# listed in 'gui_cameras' of the previews).
+ROBOT_MASK = 4294967293
+GUI_MASK = 0x0FFFFFFF
+
+# Map picture size (px) and the height it is seen from (m): high, so it is nearly orthographic,
+# but at most MAP_HEIGHT_RATIO map sizes, so the field of view stays wide enough for Gazebo.
+MAP_PIXELS = 900
+MAP_HEIGHT = 60
+MAP_HEIGHT_RATIO = 5
+
+# Ground height samples along each side of the map.
+HEIGHT_SAMPLES = 129
+# Surface heights (map.json 'surface'): depth image size (px) and the grid it is reduced to (the highest
+# point of each block, so thin walls and stems stay), frames to wait for.
+DEPTH_PIXELS = 600
+SURFACE_SAMPLES = 200
+DEPTH_FRAMES = 4
+
+# Frames to wait for from each camera before taking the last one: big models load for a few seconds.
+SETTLE_FRAMES = 10
+
+
+def ground_heights(sdf, center, size, samples=HEIGHT_SAMPLES):
+    """
+    Ground heights [[z]] over the map square, rows from north to south, from
+    the first height map collision of the world (0 without one).
+    """
+    c = (np.arange(samples) / (samples - 1) - 0.5) * size
+    x, y = np.meshgrid(center[0] + c, center[1] - c)
+    z = np.zeros_like(x)
+    for collision in ET.fromstring(sdf).iter('collision'):
+        heightmap = collision.find('geometry/heightmap')
+        if heightmap is None:
+            continue
+        uri = heightmap.findtext('uri', '').replace('file://', '')
+        sx, sy, sz = map(float, heightmap.findtext('size', '1 1 1').split())
+        z0 = float(collision.findtext('pose', '0 0 0 0 0 0').split()[2])
+        image = np.asarray(Image.open(uri), float)
+        image /= 65535 if image.max() > 255 else 255
+        rows, cols = image.shape[:2]
+        col = np.clip((x / sx + 0.5) * (cols - 1), 0, cols - 1).round().astype(int)
+        row = np.clip((0.5 - y / sy) * (rows - 1), 0, rows - 1).round().astype(int)
+        inside = (abs(x) <= sx / 2) & (abs(y) <= sy / 2)
+        z = np.where(inside, z0 + image[row, col] * sz, z)
+        break
+    return np.round(z, 3).tolist()
+
+
+def collision_world(sdf):
+    """
+    The world with its collisions shown instead of its visuals (except height
+    maps, which are only sampled): what a top view of it sees is the surface
+    the robot stands on, without leaves, grass and other things it drives
+    under or through. Included models (e.g. from Gazebo Fuel) stay as they are.
+    """
+    root = ET.fromstring(sdf)
+    for link in root.iter('link'):
+        for visual in link.findall('visual'):
+            link.remove(visual)
+        for i, collision in enumerate(link.findall('collision')):
+            geometry = collision.find('geometry')
+            if geometry is None or geometry.find('heightmap') is not None:
+                continue
+            visual = ET.SubElement(link, 'visual', name=f'surface_{i}')
+            if collision.find('pose') is not None:
+                visual.append(collision.find('pose'))
+            visual.append(geometry)
+    return ET.tostring(root, encoding='unicode')
+
+
+def run_gazebo(sdf, done, timeout):
+    """Run a headless Gazebo server on an SDF world until done() or the timeout."""
+    with tempfile.TemporaryDirectory(prefix='kpi_rover_gz_') as tmp:
+        path = os.path.join(tmp, 'world.sdf')
+        with open(path, 'w') as f:
+            f.write(sdf)
+        with open(os.path.join(tmp, 'stderr'), 'w+') as err:
+            server = subprocess.Popen(['gz', 'sim', '-s', '-r', path], stdout=subprocess.DEVNULL, stderr=err,
+                                      start_new_session=True)
+            start = time.time()
+            try:
+                while not done() and time.time() - start < timeout:
+                    if server.poll() is not None:
+                        err.seek(0)
+                        raise RuntimeError(f'Gazebo exited with {server.returncode}: {err.read()[-2000:]}')
+                    time.sleep(1)
+            finally:
+                stop(server)
+
+
+def surface_heights(sdf, center, size, timeout=120):
+    """
+    Heights [[z]] of the top surface over the map square, rows from north to
+    south (SURFACE_SAMPLES each way): the ground, objects, walls and other
+    structures the robot would stand on or hit, from a depth camera looking
+    down at the collisions; None if it couldn't be rendered.
+    """
+    from gz.msgs10.image_pb2 import Image as ImageMsg
+    from gz.transport13 import Node
+    x, y, height, _, _, _, fov = map_camera(center, size)[:7]
+    topic = f'/kpi_rover_preview_depth_{os.getpid()}'
+    sensor = f'''<model name="preview_depth"><static>true</static><link name="link">
+      <sensor name="depth" type="depth_camera"><topic>{topic}</topic>
+        <pose>{x} {y} {height} 0 {math.pi / 2} {math.pi / 2}</pose><update_rate>2</update_rate><always_on>1</always_on>
+        <camera><horizontal_fov>{math.radians(fov)}</horizontal_fov>
+          <image><width>{DEPTH_PIXELS}</width><height>{DEPTH_PIXELS}</height><format>R_FLOAT32</format></image>
+          <clip><near>0.1</near><far>{height * 2}</far></clip></camera></sensor></link></model>'''
+    world = collision_world(sdf).replace('</world>', sensor + '</world>', 1)
+    frames = []
+    node = Node()
+    node.subscribe(ImageMsg, topic, lambda msg: frames.append(msg))
+    start = time.time()
+    try:
+        run_gazebo(world, lambda: len(frames) >= DEPTH_FRAMES, timeout)
+    except RuntimeError as e:
+        print(f'  {e}', file=sys.stderr)
+    if not frames:
+        print('  no depth frames: no surface heights', file=sys.stderr)
+        return None
+    msg = frames[-1]
+    depth = np.frombuffer(msg.data, np.float32).reshape(msg.height, msg.width).astype(float)
+    top = np.where(np.isfinite(depth) & (depth < height * 2 - 0.01), height - depth, -np.inf)
+    ground = np.array(ground_heights(sdf, center, size, DEPTH_PIXELS))
+    top = np.maximum(top, ground)
+    k = DEPTH_PIXELS // SURFACE_SAMPLES
+    n = SURFACE_SAMPLES
+    top = top[:k * n, :k * n].reshape(n, k, n, k).max(axis=(1, 3))
+    print(f'  surface heights in {time.time() - start:.0f} s')
+    return np.round(top, 3).tolist()
+
+
+# A pixel of an overlay render that differs from the bare base by more than this (0-255) is the
+# overlay; the alpha ramps up over OVERLAY_SOFT above it, for smooth edges.
+OVERLAY_DIFF = 18
+OVERLAY_SOFT = 30
+
+
+def remove_models(sdf, names):
+    """The world without the named models."""
+    for name in names:
+        sdf = re.sub(rf'<model name="{re.escape(name)}">.*?</model>', '', sdf, flags=re.S)
+    return sdf
+
+
+def render_layers(path, info, spec, out, size, quality, only):
+    """The base pictures without the overlay, and the overlay pictures cut out of their backgrounds."""
+    layers = spec['layers']
+    base, overlay = layers['base'], layers['overlay']
+    if only and base['arg'] not in only and overlay['arg'] not in only:
+        return
+    camera = spec['cameras'][layers['camera']]
+    bases = list(base['values']) if not only or base['arg'] in only else []
+    overlays = list(overlay['values']) if not only or overlay['arg'] in only else []
+    bare = {}
+    for value in dict.fromkeys(bases + (list(overlay.get('against', [])) if overlays else [])):
+        print(f"{info['name']} {base['arg']}:={value} (without {overlay['arg']}): layer")
+        sdf = remove_models(world_info.world_sdf(path, {base['arg']: str(value)}), base.get('hide', []))
+        picture = render(sdf, {'layer': camera}, size).get('layer')
+        if picture:
+            bare[value] = np.asarray(picture, float)
+            if value in bases:
+                picture.save(os.path.join(out, f"{base['arg']}_{value}.jpg"), quality=quality, optimize=True)
+    for value in overlays:
+        alpha, color = None, None
+        for back in overlay.get('against', []):
+            print(f"{info['name']} {base['arg']}:={back} {overlay['arg']}:={value}: overlay")
+            picture = render(world_info.world_sdf(path, {base['arg']: str(back), overlay['arg']: str(value)}),
+                             {'layer': camera}, size).get('layer')
+            if picture is None or back not in bare:
+                continue
+            picture = np.asarray(picture, float)
+            diff = np.abs(picture - bare[back]).max(axis=2)
+            a = np.clip((diff - OVERLAY_DIFF) / OVERLAY_SOFT, 0, 1)
+            if alpha is None:
+                alpha, color = a, picture
+            else:
+                # The overlay color from the background it differs from the most.
+                color = np.where((a > alpha)[..., None], picture, color)
+                alpha = np.maximum(alpha, a)
+        if alpha is not None:
+            rgba = np.dstack([color, alpha * 255]).astype(np.uint8)
+            Image.fromarray(rgba, 'RGBA').save(os.path.join(out, f"{overlay['arg']}_{value}.png"), optimize=True)
+
+
+def write_map(sdf, out, image, center, size, quality):
+    """
+    map.jpg from a rendered image and map.json: where the map is, the start
+    points, the ground heights and the surface heights (see surface_heights).
+    """
+    image.save(os.path.join(out, 'map.jpg'), quality=quality, optimize=True)
+    info = dict(center=list(center), size=size,
+                start_points={n: [round(x, 3), round(y, 3), round(yaw, 4)]
+                              for n, (x, y, _, yaw) in world_info.start_poses(sdf).items()},
+                heights=ground_heights(sdf, center, size))
+    surface = surface_heights(sdf, center, size)
+    if surface is not None:
+        info['surface'] = surface
+    with open(os.path.join(out, 'map.json'), 'w') as f:
+        json.dump(info, f)
+
+
+def robot_camera(pose):
+    x, y, z, yaw = pose
+    ahead, up, pitch, fov = ROBOT_CAMERA
+    return [x + ahead * math.cos(yaw), y + ahead * math.sin(yaw), z + up, 0, pitch, math.degrees(yaw), fov]
+
+
+def stop(server):
+    """Stop a Gazebo server started in its own session, with every process it started."""
+    for sig in (15, 9):
+        try:
+            os.killpg(server.pid, sig)
+        except ProcessLookupError:
+            return
+        try:
+            server.wait(15)
+            return
+        except subprocess.TimeoutExpired:
+            pass
+
+
+def map_camera(center, size):
+    """A camera right above 'center' seeing a square of 'size' m, north up: [..., width, height]."""
+    height = min(MAP_HEIGHT, size * MAP_HEIGHT_RATIO)
+    fov = math.degrees(2 * math.atan(size / 2 / height))
+    return [center[0], center[1], height, 0, 90, 90, fov, MAP_PIXELS, MAP_PIXELS]
+
+
+def render(sdf, cameras, size, timeout=300, gui_cameras=()):
+    """
+    Render {name: camera} in an SDF world with a headless Gazebo; return {name: RGB image}.
+    A camera is [x, y, z, roll, pitch, yaw, fov], optionally followed by its own width and height.
+    Cameras in gui_cameras see what the Gazebo window shows, the others what the robot camera sees.
+    """
+    with tempfile.TemporaryDirectory(prefix='kpi_rover_frames_') as frames:
+        return _render(sdf, cameras, size, timeout, gui_cameras, frames)
+
+
+def _render(sdf, cameras, size, timeout, gui_cameras, frames):
+    sensors = ''
+    for name, camera in cameras.items():
+        x, y, z, roll, pitch, yaw, fov = camera[:7]
+        width, height = camera[7:9] if len(camera) >= 9 else size
+        os.makedirs(os.path.join(frames, name), exist_ok=True)
+        # Sensor names are prefixed: some, like 'world', are reserved.
+        sensors += f'''
+      <sensor name="preview_{name}" type="camera">
+        <pose>{x} {y} {z} {math.radians(roll)} {math.radians(pitch)} {math.radians(yaw)}</pose>
+        <update_rate>2</update_rate><always_on>1</always_on>
+        <camera><horizontal_fov>{math.radians(fov)}</horizontal_fov>
+          <image><width>{width}</width><height>{height}</height></image>
+          <visibility_mask>{GUI_MASK if name in gui_cameras else ROBOT_MASK}</visibility_mask>
+          <clip><near>0.05</near><far>{max(300, z * 2)}</far></clip>
+          <save enabled="true"><path>{frames}/{name}</path></save>
+        </camera>
+      </sensor>'''
+    model = f'<model name="preview_cameras"><static>true</static><link name="link">{sensors}</link></model>'
+    sdf = sdf.replace('</world>', model + '</world>', 1)
+    world = re.search(r'<world name="([^"]+)"', sdf).group(1)
+
+    def files(name):
+        return sorted(glob.glob(os.path.join(frames, name, '*.png')),
+                      key=lambda f: int(re.findall(r'\d+', os.path.basename(f))[-1]))
+
+    def done():
+        # Several frames each, so all models have loaded; cameras render only while their images are subscribed.
+        waiting = [name for name in cameras if len(files(name)) < SETTLE_FRAMES]
+        for name in waiting:
+            subprocess.run(['timeout', '3', 'gz', 'topic', '-e', '-n', '1', '-t',
+                            f'/world/{world}/model/preview_cameras/link/link/sensor/preview_{name}/image'],
+                           stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        return not waiting
+
+    start = time.time()
+    run_gazebo(sdf, done, timeout)
+    result = {}
+    for name in cameras:
+        if files(name):
+            result[name] = Image.open(files(name)[-1]).convert('RGB')
+        else:
+            print(f'  no frames from camera {name}', file=sys.stderr)
+    print(f'  rendered {len(result)} pictures in {time.time() - start:.0f} s')
+    return result
+
+
+# The map of a world without a 'map' in its manifest previews: this square around the origin.
+DEFAULT_MAP = {'center': [0, 0], 'size': 20}
+
+
+def map_place(spec, sdf=None):
+    """
+    (center, size) of the map of a world, from its manifest previews: a fixed
+    square, or with 'fit: <model>' the square around the plane collision of
+    that model in the world (e.g. a floor whose size depends on the world
+    arguments), plus 'margin' m around it.
+    """
+    m = (spec or {}).get('map') or DEFAULT_MAP
+    if m.get('fit') and sdf:
+        for model in ET.fromstring(sdf).iter('model'):
+            plane = model.find('link/collision/geometry/plane/size')
+            if model.get('name') == m['fit'] and plane is not None:
+                x, y = map(float, model.findtext('pose', '0 0 0 0 0 0').split()[:2])
+                sx, sy = map(float, plane.text.split())
+                return [x, y], round(max(sx, sy) + 2 * m.get('margin', 0.3), 2)
+    return m.get('center', [0, 0]), m['size']
+
+
+def jobs(info, spec, only):
+    """{args tuple: {picture file name: camera name}} of what to render, grouped by the world arguments."""
+    groups = {}
+
+    def add(args, filename, camera):
+        groups.setdefault(tuple(sorted(args.items())), {})[filename] = camera
+
+    def wanted(key):
+        return not only or key in only
+
+    if spec.get('world') and wanted('world'):
+        add({}, 'world', spec['world'])
+    if spec.get('start_points') and wanted('start_points'):
+        add({}, 'start_points', None)
+    if spec.get('presets') and spec.get('world') and wanted('presets'):
+        for preset in info.get('presets', []):
+            add(dict(preset['args']), f"preset_{preset['name']}", spec['world'])
+    for arg, example in (spec.get('args') or {}).items():
+        if not wanted(arg):
+            continue
+        arg_spec = info['args'][arg]
+        extra = {k: world_info.as_text(v) for k, v in (example.get('with') or {}).items()}
+        for value in example['values']:
+            text = world_info.format_value(arg_spec, world_info.parse(arg_spec, str(value)))
+            default = world_info.format_value(arg_spec, arg_spec['default'])
+            add(dict(extra, **({} if text == default else {arg: text})), f'{arg}_{text}', example['camera'])
+    return groups
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('world')
+    parser.add_argument('--only', default='', help="comma separated: 'world', 'start_points', 'presets' and argument names")
+    parser.add_argument('--size', default='960x600')
+    parser.add_argument('--quality', type=int, default=85)
+    parser.add_argument('--sdf', help='make only the map of this world file (one the launch file generated)')
+    parser.add_argument('--out', help='folder for the pictures, or for the map made with --sdf')
+    parser.add_argument('--partition', help='Gazebo transport partition, to keep apart from a running simulation')
+    options = parser.parse_args()
+    if options.partition:
+        os.environ['GZ_PARTITION'] = options.partition
+
+    path = world_info.world_files().get(options.world)
+    if options.sdf:
+        spec = world_info.manifest(path).get('previews') if path else None
+        with open(options.sdf) as f:
+            sdf = f.read()
+        os.makedirs(options.out, exist_ok=True)
+        place = map_place(spec, sdf)
+        image = render(sdf, {'map': map_camera(*place)}, None).get('map')
+        if not image:
+            sys.exit('The map was not rendered')
+        write_map(sdf, options.out, image, *place, options.quality)
+        print(f'Map in {options.out}')
+        return
+    if not path:
+        sys.exit(f'{options.world}: no such world')
+    info = world_info.describe(path)
+    spec = world_info.manifest(path).get('previews')
+    if not spec:
+        sys.exit(f'{options.world}: no previews section in the manifest')
+    out = options.out or os.path.join(os.path.dirname(path), 'previews')
+    os.makedirs(out, exist_ok=True)
+    size = tuple(map(int, options.size.split('x')))
+    only = set(filter(None, options.only.split(',')))
+
+    gui_cameras = set(spec.get('gui_cameras') or [])
+    for args, pictures in jobs(info, spec, only).items():
+        args = dict(args)
+        print(f"{options.world} {' '.join(f'{k}:={v}' for k, v in args.items()) or '(defaults)'}: "
+              f"{', '.join(pictures)}")
+        sdf = world_info.world_sdf(path, args)
+        cameras = {name: spec['cameras'][camera] for name, camera in pictures.items() if camera}
+        gui = {name for name, camera in pictures.items() if camera in gui_cameras}
+        if 'start_points' in pictures:
+            for name, pose in world_info.start_poses(sdf).items():
+                cameras[f'start_{name}'] = robot_camera(pose)
+        for name, image in render(sdf, cameras, size, gui_cameras=gui).items():
+            image.save(os.path.join(out, name + '.jpg'), quality=options.quality, optimize=True)
+    if spec.get('layers'):
+        render_layers(path, info, spec, out, size, options.quality, only)
+    print(f'Pictures in {out}')
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/platform/kpi_rover_worlds/tools/spawn_object.py b/src/platform/kpi_rover_worlds/tools/spawn_object.py
new file mode 100755
index 0000000..8cbb976
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/tools/spawn_object.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+"""
+Put objects of the object library (common/config/objects.yaml) into a running
+simulation, or take them away, e.g. for a GUI placing them on a map.
+
+    ros2 run kpi_rover_worlds spawn_object.py --list                     # the library as JSON
+    ros2 run kpi_rover_worlds spawn_object.py --world garden --name box_1 --type cardboard_box_01 --x 1 --y 2 --z 0.05 --yaw 0.5 --scale 0.345
+    ros2 run kpi_rover_worlds spawn_object.py --world garden --remove box_1
+
+The object is the same model the worlds scatter (sdf.scatter_object); its
+origin is on the ground under its center, so z is the ground height there.
+Needs a sourced ROS environment (ros_gz_sim, gz).
+"""
+
+import argparse
+import json
+import subprocess
+import sys
+import xml.etree.ElementTree as ET
+
+from kpi_rover_worlds import sdf
+
+
+def model_sdf(name, kind, scale=1.0):
+    root = ET.Element('sdf', version='1.9')
+    sdf.scatter_object(root, name, kind, 0, 0, 0, scale=scale)
+    return sdf.to_string(root)
+
+
+def spawn(world, name, kind, x, y, z, yaw, scale=1.0):
+    command = ['ros2', 'run', 'ros_gz_sim', 'create', '-world', world, '-name', name, '-string', model_sdf(name, kind, scale),
+               '-x', str(x), '-y', str(y), '-z', str(z), '-Y', str(yaw)]
+    return subprocess.run(command).returncode
+
+
+def remove(world, name):
+    command = ['gz', 'service', '-s', f'/world/{world}/remove', '--reqtype', 'gz.msgs.Entity',
+               '--reptype', 'gz.msgs.Boolean', '--timeout', '5000', '--req', f'name: "{name}" type: MODEL']
+    return subprocess.run(command).returncode
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('--list', action='store_true', help='print the object library as JSON')
+    parser.add_argument('--world', help='name of the running world (<world name="..."> of its SDF)')
+    parser.add_argument('--name', help='model name of the new object')
+    parser.add_argument('--type', help='object type from objects.yaml')
+    parser.add_argument('--x', type=float, default=0.0)
+    parser.add_argument('--y', type=float, default=0.0)
+    parser.add_argument('--z', type=float, default=0.0)
+    parser.add_argument('--yaw', type=float, default=0.0)
+    parser.add_argument('--scale', type=float, default=1.0, help="object size factor: the world's objects_scale")
+    parser.add_argument('--remove', metavar='NAME', help='take this object away')
+    options = parser.parse_args()
+    if options.list:
+        print(json.dumps([dict(name=k, kind=v['kind'], size=v['size']) for k, v in sdf.OBJECTS.items()]))
+        return
+    if not options.world:
+        sys.exit('--world is needed')
+    if options.remove:
+        sys.exit(remove(options.world, options.remove))
+    if options.type not in sdf.OBJECTS:
+        sys.exit(f"Unknown object type {options.type}; see --list")
+    sys.exit(spawn(options.world, options.name or options.type, options.type, options.x, options.y, options.z,
+                   options.yaw, options.scale))
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/platform/kpi_rover_bringup/worlds/empty.world b/src/platform/kpi_rover_worlds/worlds/empty/empty.world
similarity index 100%
rename from src/platform/kpi_rover_bringup/worlds/empty.world
rename to src/platform/kpi_rover_worlds/worlds/empty/empty.world
diff --git a/src/platform/kpi_rover_worlds/worlds/empty/empty.yaml b/src/platform/kpi_rover_worlds/worlds/empty/empty.yaml
new file mode 100644
index 0000000..56b8bfb
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/empty/empty.yaml
@@ -0,0 +1,4 @@
+title: Empty world
+description: A flat ground plane without obstacles.
+previews:
+  map: {center: [0, 0], size: 10}
diff --git a/src/platform/kpi_rover_worlds/worlds/empty/previews/world.jpg b/src/platform/kpi_rover_worlds/worlds/empty/previews/world.jpg
new file mode 100644
index 0000000..7cb2bc9
Binary files /dev/null and b/src/platform/kpi_rover_worlds/worlds/empty/previews/world.jpg differ
diff --git a/src/platform/kpi_rover_worlds/worlds/garden/garden.py b/src/platform/kpi_rover_worlds/worlds/garden/garden.py
new file mode 100644
index 0000000..a841e79
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/garden.py
@@ -0,0 +1,155 @@
+"""
+Garden: rows of fruit trees on grass with patches of loose soil and mud, pits
+and puddles, and a field road around, on uneven terrain (terrain.py).
+
+The garden is modeled in real sizes, then scaled down to the robot, so the
+trees are 4 robot heights tall (trees.SCALE). The robot collides with
+the height map and sees meshes of the same heights, one for each ground;
+grass and the surroundings up to the horizon are only seen. Axes: x east, y north.
+"""
+
+import dataclasses
+import math
+import os
+import shutil
+
+import numpy as np
+import yaml
+from PIL import Image
+
+from kpi_rover_worlds import scatter, sdf
+
+import terrain      # garden/terrain.py, next to this file
+
+CACHE_DIR = os.path.join(os.path.expanduser('~'), '.cache', 'kpi_rover', 'garden')
+CACHE_KEEP = 6      # built terrains kept in the cache; older ones are removed
+
+# Scattered objects: the square they lie in (m from the center), free room
+# around pits, puddles and start points (m), and the height above the ground
+# they are dropped from (m).
+OBJECTS_AREA = 9.4
+OBJECTS_CLEARANCE = 0.15
+START_CLEARANCE = 0.45
+OBJECTS_LIFT = 0.01
+STEM_HEIGHT = 0.45      # tree stem collisions
+
+
+def scatter_objects(args, info):
+    """[[type, x, y, yaw, z, scale]] of the objects scattered over the garden for the world arguments."""
+    features = info.get('features', {})
+    keep_out = [('circle', p['x'], p['y'], p['radius'] + OBJECTS_CLEARANCE) for p in features.get('pits', [])]
+    keep_out += [('circle', p['x'], p['y'], p['length'] / 2 + OBJECTS_CLEARANCE) for p in features.get('puddles', [])]
+    keep_out += [('circle', p['x'], p['y'], START_CLEARANCE) for p in info.get('start_points', [])]
+    obstacles = [('circle', s['x'], s['y'], s['radius']) for s in info.get('trees', {}).get('stems', [])]
+    area = (-OBJECTS_AREA, OBJECTS_AREA, -OBJECTS_AREA, OBJECTS_AREA)
+    # The objects are scaled down with the whole garden.
+    objects = scatter.scatter_from_args(args, area, keep_out, obstacles, 'garden', terrain.SCALE)
+    z_map = np.asarray(Image.open(info['heightmap']), float) / 65535 * (info['z_max'] - info['z_min']) + info['z_min']
+    half, step = info['size'] / 2, info['size'] / (len(z_map) - 1)
+
+    def ground_z(px, py):
+        return terrain.bilinear(z_map, (px + half) / step, (half - py) / step)
+
+    for obj in objects:
+        kind, x, y, yaw = obj[:4]
+        # The highest ground under the object footprint, so it never starts inside the ground.
+        r = math.hypot(*sdf.OBJECTS[kind]['size'][:2]) / 2 * terrain.SCALE
+        a = np.linspace(0, 2 * math.pi, 8, endpoint=False)
+        z = float(ground_z(np.append(x + r * np.cos(a), x), np.append(y + r * np.sin(a), y)).max())
+        obj += [round(z + OBJECTS_LIFT, 4), terrain.SCALE]
+    return objects
+
+
+def clean_cache(keep):
+    """Remove the least recently used terrains from the cache, keeping 'keep' of them."""
+    dirs = [os.path.join(CACHE_DIR, d) for d in os.listdir(CACHE_DIR) if d.startswith('terrain_')]
+    dirs.sort(key=lambda d: os.path.getmtime(os.path.join(d, 'terrain.yaml')) if os.path.isfile(
+        os.path.join(d, 'terrain.yaml')) else 0)
+    for d in dirs[:-keep]:
+        shutil.rmtree(d, ignore_errors=True)
+
+
+def mesh_geometry(parent, uri):
+    sdf.el(sdf.el(sdf.el(parent, 'geometry'), 'mesh'), 'uri', uri)
+
+
+def ground_visuals(link, grounds):
+    # Grounds cast no shadows: on this flat land they would hardly show, but cost much rendering.
+    for ground in grounds:
+        visual = sdf.el(link, 'visual', name=f"ground_{ground['name']}")
+        sdf.el(visual, 'cast_shadows', False)
+        mesh_geometry(visual, ground['mesh'])
+        sdf.material(visual, ground['color'], ground['texture'])
+
+
+def build(args):
+    options = terrain.Options(**{f.name: args[f.name] for f in dataclasses.fields(terrain.Options)})
+    path = terrain.build(CACHE_DIR, args['relief'], args['terrain_seed'], options)
+    os.utime(path)      # marks it as recently used
+    clean_cache(CACHE_KEEP)
+    with open(path) as f:
+        info = yaml.safe_load(f)
+
+    # Afternoon sun, low enough to show the relief.
+    root, world = sdf.world('garden', shadows=args['shadows'], skybox=True, ambient=0.35, sun=(-0.65, 0.55, -0.45))
+    link = sdf.static_model(world, 'terrain')
+    collision = sdf.el(link, 'collision', name='collision')
+    sdf.el(collision, 'pose', 0, 0, info['z_min'], 0, 0, 0)     # DART ignores the height map <pos>
+    heightmap = sdf.el(sdf.el(collision, 'geometry'), 'heightmap')
+    sdf.el(heightmap, 'uri', info['heightmap'])
+    sdf.el(heightmap, 'size', info['size'], info['size'], info['z_max'] - info['z_min'])
+    sdf.friction(collision, info['mu'])
+    # Mud and wheel tracks have their own friction: collision meshes 1 cm above the height map there.
+    for ground in info['grounds']:
+        if ground['collision']:
+            collision = sdf.el(link, 'collision', name=f"ground_{ground['name']}")
+            mesh_geometry(collision, ground['mesh'])
+            sdf.friction(collision, ground['mu'])
+    ground_visuals(link, info['grounds'])
+    features = info['features']
+    if features['water']:
+        # Only seen, the robot drives through it to the bottom.
+        visual = sdf.el(link, 'visual', name='water')
+        sdf.el(visual, 'cast_shadows', False)
+        sdf.el(visual, 'visibility_flags', sdf.VISIBLE_NO_LIDAR)
+        mesh_geometry(visual, features['water'])
+        material = sdf.el(visual, 'material')
+        sdf.el(material, 'ambient', *features['water_color'], 1)
+        sdf.el(material, 'diffuse', *features['water_color'], 1)
+        sdf.el(material, 'specular', '0.6 0.6 0.6 1')
+        metal = sdf.el(sdf.el(material, 'pbr'), 'metal')
+        sdf.el(metal, 'metalness', '0.0')
+        sdf.el(metal, 'roughness', features['water_roughness'])
+
+    trees = info['trees']
+    link = sdf.static_model(world, 'trees')
+    for k, stem in enumerate(trees['stems']):
+        # Up to above the robot, where the crowns begin.
+        collision = sdf.el(link, 'collision', name=f'stem_{k}')
+        sdf.el(collision, 'pose', stem['x'], stem['y'], stem['z'] + STEM_HEIGHT / 2, 0, 0, 0)
+        cylinder = sdf.el(sdf.el(collision, 'geometry'), 'cylinder')
+        sdf.el(cylinder, 'radius', stem['radius'])
+        sdf.el(cylinder, 'length', STEM_HEIGHT)
+    for wood in trees['wood']:
+        visual = sdf.el(link, 'visual', name=wood['name'])
+        mesh_geometry(visual, wood['mesh'])
+        sdf.material(visual, wood['color'], wood['texture'])
+    if trees['leaves']:
+        # They cast the crown shadows; above the lidar scan plane.
+        visual = sdf.el(link, 'visual', name='leaves')
+        sdf.el(visual, 'visibility_flags', sdf.VISIBLE_NO_LIDAR)
+        mesh_geometry(visual, trees['leaves'])
+
+    link = sdf.static_model(world, 'grass')
+    for plant in info['plants']:
+        visual = sdf.el(link, 'visual', name=plant['name'])
+        sdf.el(visual, 'cast_shadows', False)
+        sdf.el(visual, 'visibility_flags', sdf.VISIBLE_NO_LIDAR)
+        mesh_geometry(visual, plant['mesh'])
+    ground_visuals(sdf.static_model(world, 'surroundings'), info['surroundings'])
+
+    for i, (kind, x, y, yaw, z, scale) in enumerate(scatter_objects(args, info) if args['objects'] else []):
+        sdf.scatter_object(world, f'{kind}_{i}', kind, x, y, yaw, z, scale)
+    for point in info['start_points']:
+        sdf.start_point(world, point['name'], point['x'], point['y'], point['yaw'], point['z'])
+    return root
diff --git a/src/platform/kpi_rover_worlds/worlds/garden/garden.yaml b/src/platform/kpi_rover_worlds/worlds/garden/garden.yaml
new file mode 100644
index 0000000..13afb92
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/garden.yaml
@@ -0,0 +1,171 @@
+title: Garden
+description: >-
+  An apple orchard in the steppe (a real place near 47.08, 33.20) scaled down
+  to the robot: the trees are four times as tall as it is. Grass, patches of
+  loose soil and mud, pits with and without water, and a two-track field road
+  with puddles around the orchard.
+objects_scale: 0.345
+start_points:
+  road_a: Road, south side
+  road_b: Road, north side
+  garden_a: Orchard, west end
+  garden_b: Orchard, east end
+groups:
+  terrain: Terrain
+  grounds: Grounds and plants
+  obstacles: Pits, puddles, trees
+  objects: Objects
+  physics: Friction
+  render: Look
+args:
+  relief:
+    type: choice
+    default: steppe
+    choices: [steppe, hills]
+    label: Relief
+    description: steppe — the real, almost flat place; hills — made-up hills.
+    group: terrain
+  terrain_seed:
+    type: int
+    default: 11
+    min: 0
+    label: Terrain variant
+    description: One number sets the small relief, the ground patches, the pits and the grass; the same number gives the same garden.
+    group: terrain
+  grass:
+    type: float
+    default: 1.0
+    min: 0.0
+    max: 3.0
+    step: 0.1
+    label: Grass density
+    description: Grass density multiplier; 0 — no grass (the lightest for the simulation).
+    group: grounds
+  soil:
+    type: float
+    default: 0.13
+    min: 0.0
+    max: 0.4
+    step: 0.01
+    label: Loose soil share
+    description: Share of the orchard covered with patches of loose soil.
+    group: grounds
+  mud:
+    type: float
+    default: 0.12
+    min: 0.0
+    max: 0.4
+    step: 0.01
+    label: Mud share
+    description: Share of the orchard covered with mud (mostly in the hollows).
+    group: grounds
+  pits:
+    type: bool
+    default: true
+    label: Pits in the orchard
+    description: Four pits between the rows, 5–17 cm deep, two of them with water.
+    group: obstacles
+  puddles:
+    type: bool
+    default: true
+    label: Puddles on the road
+    description: Three puddles in the road ruts.
+    group: obstacles
+  tree_rows:
+    type: int
+    default: 6
+    min: 0
+    max: 7
+    label: Tree rows
+    description: Number of tree rows; 0 — no trees.
+    group: obstacles
+  grass_friction:
+    advanced: true
+    type: float
+    default: 0.65
+    min: 0.05
+    max: 1.5
+    step: 0.05
+    label: Grass and soil friction
+    group: physics
+  mud_friction:
+    advanced: true
+    type: float
+    default: 0.3
+    min: 0.05
+    max: 1.5
+    step: 0.05
+    label: Mud friction
+    group: physics
+  track_friction:
+    advanced: true
+    type: float
+    default: 0.85
+    min: 0.05
+    max: 1.5
+    step: 0.05
+    label: Road track friction
+    group: physics
+  shadows:
+    advanced: true
+    type: bool
+    default: true
+    label: Shadows
+    description: Sun shadows; without them the simulation is a bit faster.
+    group: render
+  objects:
+    type: int
+    default: 0
+    min: 0
+    max: 50
+    label: Objects
+    description: Number of boxes, crates, cones and other objects scattered at random over the garden and the road; some are low, under the lidar, and a flat board can be driven over.
+    group: objects
+  objects_seed:
+    type: string
+    default: ''
+    label: Objects layout
+    description: A number sets where the objects lie; empty — a new random layout every time.
+    group: objects
+presets:
+  light:
+    label: Light
+    description: No grass and no shadows — the fastest simulation.
+    args: {grass: 0, shadows: false}
+  dry:
+    label: Dry
+    description: No mud and no puddles.
+    args: {mud: 0, puddles: false}
+  after_rain:
+    label: After rain
+    description: Much mud and loose soil, slippery mud.
+    args: {mud: 0.35, soil: 0.25, mud_friction: 0.2}
+  open_field:
+    label: Open field
+    description: No trees — the field and the road only.
+    args: {tree_rows: 0}
+previews:
+  cameras:
+    over: [-11, -11, 4, 0, 18, 45, 70]
+    high: [0, -14, 7, 0, 30, 90, 70]
+    horizon: [-12, -12, 1.2, 0, 6, 45, 80]
+    grass: [-9.6, -3, 0.3, 0, 18, 20, 60]
+    pit: [-4.4, 1.25, 0.55, 0, 28, 35, 65]
+    puddle: [1.6, -7.05, 0.35, 0, 12, 0, 60]
+    orchard: [-3.2, -9.2, 2.2, 0, 22, 75, 60]
+    objects: [0, -11, 3, 0, 35, 90, 60]
+  world: over
+  presets: true
+  start_points: true
+  map: {center: [0, 0], size: 21}
+  args:
+    relief: {camera: horizon, values: [steppe, hills]}
+    terrain_seed: {camera: high, values: [11, 3, 25]}
+    grass: {camera: grass, values: [0, 1, 3]}
+    soil: {camera: high, values: [0, 0.13, 0.4]}
+    mud: {camera: high, values: [0, 0.12, 0.4]}
+    pits: {camera: pit, values: [true, false]}
+    puddles: {camera: puddle, values: [true, false]}
+    tree_rows: {camera: over, values: [0, 3, 6]}
+    shadows: {camera: orchard, values: [true, false]}
+    objects: {camera: objects, values: [0, 14, 45], with: {objects_seed: 1, grass: 0}}
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diff --git a/src/platform/kpi_rover_worlds/worlds/garden/relief/steppe.yaml b/src/platform/kpi_rover_worlds/worlds/garden/relief/steppe.yaml
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index 0000000..bd24a8a
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/relief/steppe.yaml
@@ -0,0 +1,10 @@
+# Real terrain heights for the garden relief.
+# The PNG holds heights from h_min (black) to h_max (white), m, on a
+# north-up grid of size x size m with step m spacing centered at lat, lon.
+lat: 47.0787331
+lon: 33.1950273
+size: 800.0
+step: 5.0
+h_min: 61.763
+h_max: 69.193
+source: Terrain Tiles on AWS Open Data (terrarium, mostly SRTM), https://registry.opendata.aws/terrain-tiles/
diff --git a/src/platform/kpi_rover_worlds/worlds/garden/terrain.py b/src/platform/kpi_rover_worlds/worlds/garden/terrain.py
new file mode 100644
index 0000000..2bb5bad
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/terrain.py
@@ -0,0 +1,867 @@
+"""
+Garden terrain: a height map with natural relief, covered with grounds and
+grass.
+
+Two reliefs are available:
+    steppe - a real place (see relief/): the overall
+             slope and broad undulations come from real heights, smoothed;
+             the small unevenness of the ground and a few shallow pits are
+             added in real sizes. Almost flat, like the real steppe.
+    hills  - made-up hilly relief: broad hills and hollows with bumps on them.
+All real sizes are scaled down to the robot by SCALE (trees.py). World axes are
+x east and y north. The noise is defined in world coordinates, so the same
+seed always gives the same terrain, whatever the grid.
+
+Grounds: grass covers the garden, with natural patches of loose soil and of
+mud, which gathers in hollows. A field road goes around the garden: two worn
+wheel tracks of dirt and gravel with ruts pressed into them and low berms
+beside them, grass between and along them. Each ground has its own small
+relief: grass tussocks, soil clods, smooth sunken mud. Ground boundaries are smooth curves:
+the terrain triangles are cut exactly along them. Grass (CARDS)
+grows on the grass ground and thickest along the patch edges, softening them:
+cards, pictures of tufts on crossed rectangles.
+
+The terrain is written as:
+    heightmap_<key>.png - 16-bit height map for the Gazebo <heightmap> collision;
+                          black is the lowest point, white the highest
+    ground_<name>_<key>.gltf - visual mesh of each ground on the same heights,
+                          with UVs repeating its macro texture (textures.py)
+    grass_cards_<key>.gltf - all grass cards
+    surroundings<i>_<key>.gltf - visual-only rings around the terrain up to the horizon
+    terrain.yaml        - size, height range, file names for the world
+The key is a hash of the parameters, unique for each terrain, as Gazebo caches
+meshes and images by file name.
+"""
+
+import dataclasses
+import hashlib
+import math
+import os
+import shutil
+from typing import NamedTuple
+
+import numpy as np
+import yaml
+from PIL import Image
+from scipy import ndimage
+
+import textures
+import trees
+from kpi_rover_worlds import gltf
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+ASSETS_DIR = os.path.join(HERE, '..', '..', 'assets')
+SCALE = trees.SCALE
+
+# Garden grounds: texture in assets/textures, color multiplied with it, real
+# size one texture repeat covers (m), friction for rubber wheels. The height
+# map has the grass friction (soil too); mud and the wheel tracks have their
+# own collision meshes.
+GROUNDS = {
+    'grass': {'texture': 'ground_meadow', 'color': [0.82, 0.95, 0.62], 'tile': 2.51, 'mu': 0.65},
+    'soil': {'texture': 'ground_loose_soil', 'tile': 2.0, 'mu': 0.7},
+    'mud': {'texture': 'ground_forest_mud', 'tile': 2.35, 'mu': 0.3},
+    'track': {'texture': 'road_gravel', 'color': [0.6, 0.57, 0.52], 'tile': 3.0, 'mu': 0.85},
+}
+# Grass card pictures: an atlas and the places of the sprites in it, real m.
+CARDS_ATLAS = 'models/grass_cards/grass_cards.png'
+with open(os.path.join(ASSETS_DIR, 'models', 'grass_cards', 'grass_cards.yaml')) as f:
+    CARDS = yaml.safe_load(f)
+
+SIZE = 20.48        # terrain side, m
+SAMPLES = 1025      # height map samples per side (2^n + 1, as Gazebo needs): a 2 cm grid
+STEP = SIZE / (SAMPLES - 1)
+# The visual meshes use every VISUAL_STEP-th sample: an 8 cm grid with smooth
+# normals looks the same and has 16 times fewer triangles; it differs from the
+# collision height map (which the robot drives on, 2 cm, smooth) by 1.7 mm on
+# average and under 7 mm in 99% of places.
+VISUAL_STEP = 4
+
+# Surroundings: visual-only meshes around the terrain up to the horizon, so
+# the terrain doesn't end at an edge: rings of (side, grid step), m, each
+# coarser than the one inside it. A ring grid is aligned with the grid inside
+# and overlaps its border a little, under it, so there are no cracks.
+RINGS = ((122.88, 0.64), (2048.0, 20.48))
+FAR_TILE = 16       # texture repeat of the far rings, in near texture repeats
+
+RELIEFS = ('steppe', 'hills')
+
+# --- real sizes, m (scaled down with SCALE) ---
+STEPPE_SMOOTH = 40.0    # smoothing of the real heights (removes SRTM noise)
+# Unevenness of a field: (wavelength, amplitude).
+BROAD_LAYERS = ((30.0, 0.12), (10.0, 0.05))
+SMALL_LAYERS = ((3.0, 0.04), (1.2, 0.025), (0.5, 0.012), (0.2, 0.005))
+# Ground relief: grass tussocks, soil clods and raise, mud sinking.
+TUSSOCKS = (0.6, 0.05)          # wavelength, height
+CLODS = ((0.35, 0.035), (0.15, 0.015))
+SOIL_RAISE = 0.02
+MUD_SINK = 0.05
+MUD_SMOOTH = 0.7                # part of the small unevenness mud smooths out
+# Shallow pits: radius and depth ranges, and how many per 100 m^2 where they gather.
+PITS_RADIUS = (0.3, 0.7)
+PITS_DEPTH = (0.03, 0.08)
+PITS_DENSITY = 1.5
+PITS_GATHER = 25.0              # size of the places where pits gather
+# Ground patches: share of the terrain, patch size (noise wavelength) and the
+# width of the relief transition at their edges.
+SOIL_SHARE, SOIL_SIZE = 0.13, 9.0
+MUD_SHARE, MUD_SIZE = 0.12, 6.0
+MUD_IN_HOLLOWS = 0.6            # how much mud prefers low places (0..1)
+EDGE = 0.3
+PATCH_FADE = 2.0               # world m at the terrain border over which the patches fade out
+# Grass cards per real m^2: on grass, and along the ground edges (both sides,
+# within CARDS_EDGE_BAND).
+CARDS_DENSITY = 10.0
+CARDS_EDGE_DENSITY = 14.0
+# How often each kind of plant picture is picked (by the start of its name, see
+# CARDS): meadow grass mostly, some of it dry, a few weeds.
+CARD_WEIGHTS = (('grass_medium_01_dry', 0.15), ('grass_medium_01', 1.0), ('grass_medium_02', 0.6),
+                ('grass_bermuda_01', 0.5), ('weed_plant_02', 0.15), ('dandelion_01', 0.1))
+CARDS_PLANES = 2                # crossed rectangles per card
+CARDS_EDGE_BAND = 0.5
+CARDS_SIZE = (0.9, 1.6)         # random scale
+
+# --- hills: made-up relief, world sizes ---
+HILLS_LAYERS = ((14.0, 0.5), (6.0, 0.18), (2.5, 0.04))
+HILLS_TILT = 0.01       # overall slope, m per m
+HILLS_WARP = (8.0, 1.5)  # wavelength, shift, m
+HORIZON_HILLS = ((40.0, 3.0), (15.0, 0.8))   # (wavelength, amplitude), m
+HORIZON_RISE = 25.0     # distance from the terrain over which they rise to full height, m
+
+OUTSIDE = 'grass'
+
+# --- field road around the garden: two wheel tracks with gravel, grass between them ---
+# Centerline: a rounded rectangle around the trees, world m, a little wavy.
+ROAD_HALF = (7.4, 6.7)
+ROAD_CORNER = 2.0
+ROAD_WAVE = (6.0, 0.15)         # wavelength, sideways shift, world m
+# Real sizes, m: a car track gauge, the worn tracks and the ruts in them.
+GAUGE = 1.55                    # distance between the wheel track middles
+TRACK_HALF = 0.3                # half width of a worn track (gravel and dirt)
+TRACK_EDGE = (0.5, 0.07)        # wavelength, sideways wobble of the track edges
+RUT_HALF = 0.25                 # half width of the rut pressed into a track
+RUT_DEPTH = (0.04, 0.12)        # rut depth, changing along the road
+BERM = 0.025                    # soil pushed up at the rut sides
+ROAD_CLEAR = 1.0                # no soil and mud patches this far beyond the tracks
+
+# --- pits and puddles, real sizes, m ---
+# Garden pits between the tree rows: (radius, depth, water). Dry pits have
+# bare soil, pits with water are muddy around it.
+GARDEN_PITS = ((1.0, 0.15, False), (1.3, 0.25, True), (1.5, 0.35, False), (1.7, 0.5, True))
+# Puddles on the road, in a wheel track: (side of the garden, along the side
+# from -1 to 1, track: +1 outer or -1 inner, half length along the track, depth).
+ROAD_PUDDLES = (('south', 0.45, 1, 1.4, 0.12), ('east', -0.3, -1, 1.8, 0.15), ('north', -0.55, 1, 1.2, 0.1))
+PUDDLE_WIDTH = 0.45             # half width of a road puddle across the track, real m
+WATER_LEVEL = 0.55              # water depth, share of the pit depth
+WATER_COLOR = [0.07, 0.06, 0.04]    # muddy water
+WATER_ROUGHNESS = 0.3
+
+# --- start points: name and place: (road side, along it from -1 to 1, track)
+# on the road, or (x world m, y in tree row spacings) in the garden ---
+# On the road the robot stands in the middle (track 0), on the grass between
+# the wheel tracks, which is as wide as the robot is: in a deep rut it would
+# sit on its belly. It heads counterclockwise around the garden. In the
+# garden it stands between tree rows, heading along them.
+START_POINTS = (('road_a', ('south', -0.5, 0)), ('road_b', ('north', 0.5, 0)),
+                ('garden_a', (-4.6, 0)), ('garden_b', (4.6, 1)))
+
+# The height map is this much lower under mud and the wheel tracks, which
+# have collision meshes of their own, with their own friction.
+FRICTION_GAP = 0.01
+OWN_COLLISION = ('mud', 'track')
+GARDEN_GROUNDS = ('grass', 'soil', 'mud', 'track')
+
+
+@dataclasses.dataclass(frozen=True)
+class Options:
+    """
+    Terrain settings set by the garden world arguments (see garden.yaml); part
+    of the cache key. The defaults are the module settings above.
+    """
+    grass: float = 1.0                  # grass density, a multiplier of CARDS_DENSITY and CARDS_EDGE_DENSITY
+    soil: float = SOIL_SHARE            # soil and mud shares of the garden
+    mud: float = MUD_SHARE
+    pits: bool = True                   # garden pits (GARDEN_PITS) and road puddles (ROAD_PUDDLES)
+    puddles: bool = True
+    tree_rows: int = trees.ROWS
+    grass_friction: float | None = None    # friction of grass and soil, mud and the wheel tracks; None: GROUNDS
+    mud_friction: float | None = None
+    track_friction: float | None = None
+
+    def grounds(self):
+        """GROUNDS with the friction of these options."""
+        grounds = dict(GROUNDS)
+        for ground, mu in (('grass', self.grass_friction), ('soil', self.grass_friction),
+                           ('mud', self.mud_friction), ('track', self.track_friction)):
+            if mu is not None:
+                grounds[ground] = dict(grounds[ground], mu=mu)
+        return grounds
+
+
+def _hash(ix, iy, seed):
+    """Pseudo-random 32-bit integers for integer lattice points."""
+    h = (ix.astype(np.int64) * 374761393 + iy.astype(np.int64) * 668265263 + seed * 2147483647) & 0xFFFFFFFF
+    h = ((h ^ (h >> 13)) * 1274126177) & 0xFFFFFFFF
+    return h ^ (h >> 16)
+
+
+def perlin(x, y, seed):
+    """2D gradient noise in about [-1, 1] with a lattice step of 1."""
+    x = np.asarray(x, float)
+    y = np.asarray(y, float)
+    x0 = np.floor(x)
+    y0 = np.floor(y)
+    fx = x - x0
+    fy = y - y0
+    ix = x0.astype(np.int64)
+    iy = y0.astype(np.int64)
+    # Dense points: the gradients of their lattice are computed once and looked up.
+    x_lo, y_lo = (ix.min(), iy.min()) if ix.size else (0, 0)
+    width, height = (ix.max() - x_lo + 2, iy.max() - y_lo + 2) if ix.size else (0, 0)
+    table = width * height <= ix.size
+    if table:
+        gy, gx = np.mgrid[y_lo:y_lo + height, x_lo:x_lo + width]
+        angle = (_hash(gx, gy, seed) * (2 * math.pi / 2 ** 32)).ravel()
+        cos, sin = np.cos(angle), np.sin(angle)
+        k = (iy - y_lo) * width + (ix - x_lo)
+
+    def grad(dx, dy):
+        if table:
+            i = k + dy * width + dx
+            return cos[i] * (fx - dx) + sin[i] * (fy - dy)
+        angle = _hash(ix + dx, iy + dy, seed) * (2 * math.pi / 2 ** 32)
+        return np.cos(angle) * (fx - dx) + np.sin(angle) * (fy - dy)
+
+    u = fx ** 3 * (fx * (fx * 6 - 15) + 10)
+    v = fy ** 3 * (fy * (fy * 6 - 15) + 10)
+    bottom = grad(0, 0) + u * (grad(1, 0) - grad(0, 0))
+    top = grad(0, 1) + u * (grad(1, 1) - grad(0, 1))
+    return (bottom + v * (top - bottom)) * math.sqrt(2)
+
+
+def noise_layers(x, y, layers, seed):
+    """Sum of noise layers [(wavelength, amplitude)], each rotated and shifted so their lattices don't line up."""
+    rng = np.random.default_rng(seed)
+    z = 0
+    for i, (wavelength, amplitude) in enumerate(layers):
+        a = rng.uniform(0, 2 * math.pi)
+        ox, oy = rng.uniform(0, 1000, 2)
+        u = (x * math.cos(a) - y * math.sin(a)) / wavelength + ox
+        v = (x * math.sin(a) + y * math.cos(a)) / wavelength + oy
+        z = z + amplitude * perlin(u, v, seed * 31 + i)
+    return z
+
+
+def smoothstep(t):
+    t = np.clip(t, 0, 1)
+    return t * t * (3 - 2 * t)
+
+
+def window(x, y, cx, cy, r):
+    """Grid slices around a circle; rows go along -y."""
+    c0, c1 = np.searchsorted(x[0], [cx - r, cx + r])
+    r0, r1 = np.searchsorted(-y[:, 0], [-(cy + r), -(cy - r)])
+    return slice(r0, r1), slice(c0, c1)
+
+
+class Hole(NamedTuple):
+    """A garden pit or a road puddle: an ellipse of radius r along 'angle' and 'width' across, real m."""
+    x: float
+    y: float
+    r: float
+    depth: float
+    water: bool
+    angle: float
+    width: float
+
+
+def bilinear(a, col, row):
+    """Grid a at fractional (col, row), row 0 at the top; clipped to the grid."""
+    rows, cols = a.shape
+    col, row = np.clip(col, 0, cols - 1), np.clip(row, 0, rows - 1)
+    c0, r0 = np.minimum(col.astype(int), cols - 2), np.minimum(row.astype(int), rows - 2)
+    fc, fr = col - c0, row - r0
+    return ((a[r0, c0] * (1 - fc) + a[r0, c0 + 1] * fc) * (1 - fr) +
+            (a[r0 + 1, c0] * (1 - fc) + a[r0 + 1, c0 + 1] * fc) * fr)
+
+
+class RealHeights:
+    """Smoothed real heights from relief/<name>.png, sampled at real east/north offsets from the place."""
+
+    def __init__(self, name):
+        with open(os.path.join(HERE, 'relief', name + '.yaml')) as f:
+            self.info = yaml.safe_load(f)
+        data = np.asarray(Image.open(os.path.join(HERE, 'relief', name + '.png'))).astype(float) / 65535
+        h = self.info['h_min'] + data * (self.info['h_max'] - self.info['h_min'])
+        self.h = ndimage.gaussian_filter(h, STEPPE_SMOOTH / self.info['step'], mode='nearest', truncate=3)
+        self.h0 = self.sample(np.zeros(1), np.zeros(1))[0]
+
+    def sample(self, east, north):
+        step, half = self.info['step'], self.info['size'] / 2
+        return bilinear(self.h, (east + half) / step, (half - north) / step)
+
+
+def real(layers):
+    """Real (wavelength, amplitude) layers in world sizes."""
+    return tuple((w * SCALE, a * SCALE) for w, a in layers)
+
+
+class Terrain:
+    """Relief and grounds of the terrain for a relief name and seed; all functions take world points."""
+
+    def __init__(self, relief, seed, options=Options()):
+        if relief not in RELIEFS:
+            raise ValueError(f"Unknown relief '{relief}'. Available: {', '.join(RELIEFS)}.")
+        self.relief = relief
+        self.seed = seed
+        self.options = options
+        if relief == 'steppe':
+            self.real = RealHeights('steppe')
+        # Patch thresholds give the wanted shares of the garden inside the road.
+        x, y = grid(SIZE, SIZE / 256)
+        inside = (self.road(x, y) < -(GAUGE / 2 + TRACK_HALF + ROAD_CLEAR + 0.5))
+        # A share of 0 puts the threshold above all noise values: no patches.
+        soil, mud = options.soil, options.mud
+        self.soil_cut = np.quantile(self._soil_noise(x, y)[inside], 1 - soil) if soil > 0 else 10.0
+        self.mud_cut = np.quantile(self._mud_noise(x, y)[inside], 1 - mud) if mud > 0 else 10.0
+        self.place_features()
+
+    def broad(self, x, y):
+        """Broad relief: the shape of the land, m."""
+        if self.relief == 'hills':
+            rng = np.random.default_rng(self.seed)
+            tilt_dir = rng.uniform(0, 2 * math.pi)
+            z = HILLS_TILT * (x * math.cos(tilt_dir) + y * math.sin(tilt_dir))
+            wavelength, shift = HILLS_WARP
+            wx = x + shift * perlin(x / wavelength + 100.5, y / wavelength, self.seed * 31 + 101)
+            wy = y + shift * perlin(x / wavelength, y / wavelength + 200.5, self.seed * 31 + 102)
+            return z + noise_layers(wx, wy, HILLS_LAYERS, self.seed)
+        z = (self.real.sample(x / SCALE, y / SCALE) - self.real.h0) * SCALE
+        return z + noise_layers(x, y, real(BROAD_LAYERS), self.seed)
+
+    def horizon(self, x, y):
+        """Broad relief of the surroundings: for hills, rising into hills away from the terrain."""
+        z = self.broad(x, y)
+        if self.relief == 'hills':
+            half = SIZE / 2
+            d = np.hypot(np.maximum(np.abs(x) - half, 0), np.maximum(np.abs(y) - half, 0))
+            rise = smoothstep(d / HORIZON_RISE)
+            for i, (wavelength, amplitude) in enumerate(HORIZON_HILLS):
+                # Mostly up: hills around rather than pits.
+                z = z + rise * amplitude * (0.6 + perlin(x / wavelength + 500.5, y / wavelength + 700.5,
+                                                         self.seed * 31 + 200 + i))
+        return z
+
+    def _warp(self, x, y, k):
+        """Domain warp for the patches, so their edges wind naturally."""
+        w = 6.0 * SCALE
+        return (x + 2.0 * SCALE * perlin(x / w + 11.5 * k, y / w, self.seed * 31 + 500 + k),
+                y + 2.0 * SCALE * perlin(x / w, y / w + 13.5 * k, self.seed * 31 + 510 + k))
+
+    def _soil_noise(self, x, y):
+        wx, wy = self._warp(x, y, 1)
+        s = SOIL_SIZE * SCALE
+        return noise_layers(wx, wy, ((s, 1.0), (s / 2.5, 0.35), (s / 7, 0.08)), self.seed * 7 + 1)
+
+    def _mud_noise(self, x, y):
+        wx, wy = self._warp(x, y, 2)
+        s = MUD_SIZE * SCALE
+        n = noise_layers(wx, wy, ((s, 1.0), (s / 2.5, 0.3), (s / 6, 0.08)), self.seed * 7 + 2)
+        # Low places: the broad relief below its local average.
+        r = 4.0 * SCALE
+        average = sum(self.broad(x + dx, y + dy) for dx, dy in ((r, 0), (-r, 0), (0, r), (0, -r))) / 4
+        hollow = np.tanh(-(self.broad(x, y) - average) / (0.05 * SCALE))
+        return (1 - MUD_IN_HOLLOWS) * n + MUD_IN_HOLLOWS * 0.8 * hollow
+
+    @staticmethod
+    def _fade(x, y):
+        """0 inside the terrain, rising to 1 at its border: patches fade out there, grass goes on."""
+        return smoothstep((np.maximum(np.abs(x), np.abs(y)) - (SIZE / 2 - PATCH_FADE)) / PATCH_FADE)
+
+    def road(self, x, y):
+        """Sideways offset from the road centerline, real m (negative inside the ring)."""
+        hx, hy = ROAD_HALF
+        qx, qy = np.abs(x) - hx + ROAD_CORNER, np.abs(y) - hy + ROAD_CORNER
+        sdf = np.hypot(np.maximum(qx, 0), np.maximum(qy, 0)) + np.minimum(np.maximum(qx, qy), 0) - ROAD_CORNER
+        wavelength, shift = ROAD_WAVE
+        sdf = sdf + shift * perlin(x / wavelength + 60.5, y / wavelength + 70.5, self.seed * 31 + 600)
+        return sdf / SCALE
+
+    @staticmethod
+    def _track_distance(s):
+        """Distance from the nearest wheel track middle, real m, for road offsets s."""
+        return np.minimum(np.abs(s - GAUGE / 2), np.abs(s + GAUGE / 2))
+
+    def track(self, x, y, s=None):
+        """Wheel track field, real m: positive on the worn tracks."""
+        s = self.road(x, y) if s is None else s
+        wavelength, wobble = TRACK_EDGE
+        edge = wobble * perlin(x / (wavelength * SCALE) + 3.5, y / (wavelength * SCALE) + 9.5, self.seed * 31 + 610)
+        return TRACK_HALF + edge - self._track_distance(s)
+
+    def _off_road(self, x, y, s=None):
+        """0 away from the road, rising to 1 near the tracks: patches stay off the road."""
+        s = self.road(x, y) if s is None else s
+        return smoothstep((GAUGE / 2 + TRACK_HALF + ROAD_CLEAR - np.abs(s)) / 0.5)
+
+    def road_point(self, side, along, track):
+        """World point on a road side, 'along' it from -1 to 1, on a track: +1 outer, -1 inner, 0 the middle."""
+        hx, hy = ROAD_HALF
+        sx, sy = {'south': (0, -1), 'north': (0, 1), 'east': (1, 0), 'west': (-1, 0)}[side]
+        across = np.linspace(-1.0, 1.0, 801)
+        if sx == 0:
+            xs, ys = np.full_like(across, along * (hx - ROAD_CORNER)), sy * hy + across
+        else:
+            xs, ys = sx * hx + across, np.full_like(across, along * (hy - ROAD_CORNER))
+        i = np.argmin(np.abs(self.road(xs, ys) - track * GAUGE / 2))
+        return float(xs[i]), float(ys[i])
+
+    def place_features(self):
+        """Places of the garden pits, road puddles and start points (world m)."""
+        spacing = trees.ROW_SPACING * SCALE
+        rng = np.random.default_rng(self.seed * 7 + 11)
+        # Pits on the lines between the tree rows, away from the start points and each other.
+        rows = self.options.tree_rows
+        lines = (np.arange(rows - 1) - (rows - 2) / 2) * spacing if rows > 1 else np.zeros(1)
+        starts = [(x, y * spacing) for _, (x, y, *_) in START_POINTS if not isinstance(x, str)]
+        self.pits = []
+        for r, depth, water in GARDEN_PITS if self.options.pits else ():
+            for _ in range(100):
+                py = lines[rng.integers(len(lines))]
+                px = rng.uniform(-trees.GARDEN_HALF_X + 1.5, trees.GARDEN_HALF_X - 1.5)
+                taken = starts + [(p.x, p.y) for p in self.pits]
+                if all(math.hypot(px - qx, py - qy) > 1.6 for qx, qy in taken):
+                    break
+            self.pits.append(Hole(px, py, r, depth, water, 0.0, r))
+        self.puddles = []
+        for side, along, track, r, depth in ROAD_PUDDLES if self.options.puddles else ():
+            px, py = self.road_point(side, along, track)
+            angle = 0.0 if side in ('south', 'north') else math.pi / 2
+            self.puddles.append(Hole(px, py, r, depth, True, angle, PUDDLE_WIDTH))
+
+    def feature_heights(self, x, y):
+        """Height change of the garden pits and road puddles at grid points, m."""
+        dz = np.zeros(np.shape(x))
+        for hole in self.pits + self.puddles:
+            w = window(x, y, hole.x, hole.y, hole.r * SCALE)
+            wx, wy = x[w], y[w]
+            # Irregular edges: the distance wobbles around the pit.
+            wobble = 1 + 0.18 * perlin(wx / (0.3 * SCALE) + hole.x, wy / (0.3 * SCALE) + hole.y, self.seed * 31 + 700)
+            t = np.clip(hole_distance(hole, wx, wy) * wobble, 0, 1)
+            # A bowl with steeper sides and a flatter bottom than a plain bump.
+            dz[w] -= hole.depth * SCALE * (1 - t ** 2.5) ** 1.5
+        return dz
+
+    def _pit_field(self, x, y, water):
+        """Positive around the garden pits with or without water: their ground, in real m."""
+        f = np.full(np.shape(x), -10.0)
+        for p in self.pits:
+            if p.water == water:
+                f = np.maximum(f, 1.25 * p.r - np.hypot(x - p.x, y - p.y) / SCALE)
+        return f
+
+    def soil(self, x, y, s=None):
+        """Soil patch field: positive inside the patches."""
+        f = self._soil_noise(x, y) - self.soil_cut - 2 * self._fade(x, y) - 3 * self._off_road(x, y, s)
+        return np.maximum(f, self._pit_field(x, y, False) / SOIL_SIZE)
+
+    def mud(self, x, y, s=None):
+        """Mud patch field: positive inside the patches."""
+        f = self._mud_noise(x, y) - self.mud_cut - 2 * self._fade(x, y) - 3 * self._off_road(x, y, s)
+        return np.maximum(f, self._pit_field(x, y, True) / MUD_SIZE)
+
+    def fields(self, x, y):
+        """Ground fields (soil, mud, track), each positive on its ground; see labels()."""
+        s = self.road(x, y)
+        return self.soil(x, y, s), self.mud(x, y, s), self.track(x, y, s)
+
+    def weights(self, soil, mud, track):
+        """Smooth weights (soil, mud, track) of the ground relief, rising over EDGE at the ground edges."""
+        e = EDGE * SCALE
+        # Patch field values are noise units changing by about 1 over a patch size; convert to meters.
+        w_track = smoothstep(0.5 + track / 0.15)
+        w_mud = smoothstep(0.5 + mud * MUD_SIZE * SCALE / e) * (1 - w_track)
+        w_soil = smoothstep(0.5 + soil * SOIL_SIZE * SCALE / e) * (1 - w_mud - w_track)
+        return w_soil, w_mud, w_track
+
+    def ruts(self, x, y):
+        """Height change of the road: ruts in the wheel tracks and low berms beside them, m."""
+        d = self._track_distance(self.road(x, y))
+        lo, hi = RUT_DEPTH
+        wave = perlin(x / (8 * SCALE) + 1.5, y / (8 * SCALE) + 2.5, self.seed * 31 + 620)
+        depth = lo + (hi - lo) * smoothstep(0.5 + wave)
+        t = np.clip(d / RUT_HALF, 0, 1)
+        rut = -depth * (1 - t * t) ** 2
+        berm = BERM * np.exp(-((d - RUT_HALF - 0.08) / 0.08) ** 2)
+        return (rut + berm) * SCALE
+
+    def heights(self, x, y, fields):
+        """Terrain heights with the ground relief, road and pits at grid points, m."""
+        z = self.broad(x, y)
+        w_soil, w_mud, w_track = self.weights(*fields)
+        w_grass = 1 - w_soil - w_mud - w_track
+        small = noise_layers(x, y, real(SMALL_LAYERS), self.seed * 3 + 1)
+        z = z + small * (1 - MUD_SMOOTH * w_mud - 0.5 * w_track) + self.ruts(x, y)
+        wavelength, height = TUSSOCKS
+        tussocks = smoothstep(noise_layers(x, y, ((wavelength * SCALE, 1.0),), self.seed * 3 + 2) * 1.5 + 0.2)
+        z = z + w_grass * tussocks * height * SCALE
+        clods = noise_layers(x, y, real(CLODS), self.seed * 3 + 3)
+        z = z + w_soil * (np.abs(clods) * 1.5 + SOIL_RAISE * SCALE)
+        z = z - w_mud * MUD_SINK * SCALE
+        return z + shallow_pits(x, y, self.seed) + self.feature_heights(x, y)
+
+
+def labels(fields):
+    """Ground at points from the fields (soil, mud, track): indices into GARDEN_GROUNDS; later ones win."""
+    g = np.zeros(np.shape(fields[0]), int)
+    for i, f in enumerate(fields):
+        g[f > 0] = i + 1
+    return g
+
+
+def shallow_pits(x, y, seed):
+    """Height changes of shallow pits at world grid points (inside the terrain only), m."""
+    rng = np.random.default_rng(seed * 7 + 3)
+    half = SIZE / 2 - 0.5
+    area = (2 * half / SCALE) ** 2      # real m^2
+    n = rng.poisson(area / 100 * PITS_DENSITY)
+    px, py = rng.uniform(-half, half, (2, n))
+    gather = perlin(px / (PITS_GATHER * SCALE) + 300.5, py / (PITS_GATHER * SCALE) + 900.5, seed * 31 + 300)
+    keep = rng.uniform(0, 1, n) < np.clip(gather * 1.6 + 0.15, 0, 1)
+    dz = np.zeros(np.shape(x))
+    for cx, cy in zip(px[keep], py[keep]):
+        r = rng.uniform(*PITS_RADIUS) * SCALE
+        depth = rng.uniform(*PITS_DEPTH) * SCALE
+        w = window(x, y, cx, cy, r)
+        t = np.clip(np.hypot(x[w] - cx, y[w] - cy) / r, 0, 1)
+        dz[w] -= depth * (1 - t * t) ** 2
+    return dz
+
+
+def grid(size=SIZE, step=STEP):
+    """World coordinates of a square grid; row 0 is the +y edge, as in a Gazebo height map image."""
+    n = int(round(size / step)) + 1
+    c = (np.arange(n) / (n - 1) - 0.5) * size
+    x, y = np.meshgrid(c, c[::-1])
+    return x, y
+
+
+def grid_normals(z, step):
+    """Smooth normals of a grid from central differences; rows go along -y."""
+    dzdx = np.gradient(z, step, axis=1)
+    dzdy = -np.gradient(z, step, axis=0)
+    n = np.stack([-dzdx, -dzdy, np.ones_like(z)], axis=-1)
+    return n / np.linalg.norm(n, axis=-1, keepdims=True)
+
+
+def grid_triangles(rows, cols, keep=None):
+    """Counter-clockwise (from above) vertex index triangles of a grid, two per cell, for the kept cells."""
+    idx = np.arange(rows * cols).reshape(rows, cols)
+    a, b = idx[:-1, :-1], idx[:-1, 1:]   # upper row (larger y)
+    c, d = idx[1:, :-1], idx[1:, 1:]     # lower row
+    if keep is None:
+        keep = np.ones(a.shape, bool)
+    return np.concatenate([np.stack([c[keep], d[keep], b[keep]], -1), np.stack([c[keep], b[keep], a[keep]], -1)])
+
+
+def clip(tris, f):
+    """
+    Cut triangles (M, 3, D) of vertex attributes along the zero line of field
+    values f (M, 3), linear over each triangle. Return the triangles on the
+    positive and on the negative side, keeping the vertex order.
+    """
+    s = f >= 0
+    count = s.sum(1)
+    pos, neg = [tris[count == 3]], [tris[count == 0]]
+    for lone_positive in (True, False):
+        sel = count == (1 if lone_positive else 2)
+        if not sel.any():
+            continue
+        t, fs, ss = tris[sel], f[sel], s[sel]
+        lone = np.argmax(ss if lone_positive else ~ss, axis=1)
+        order = (lone[:, None] + np.arange(3)) % 3
+        rows = np.arange(len(t))[:, None]
+        t, fs = t[rows, order], fs[rows, order]
+        a, b, c = t[:, 0], t[:, 1], t[:, 2]
+        tab = (fs[:, 0] / (fs[:, 0] - fs[:, 1]))[:, None]
+        tac = (fs[:, 0] / (fs[:, 0] - fs[:, 2]))[:, None]
+        p = a + tab * (b - a)
+        q = a + tac * (c - a)
+        lone_tris = np.stack([a, p, q], 1)
+        rest = np.concatenate([np.stack([p, b, c], 1), np.stack([p, c, q], 1)])
+        (pos if lone_positive else neg).append(lone_tris)
+        (neg if lone_positive else pos).append(rest)
+    return np.concatenate(pos), np.concatenate(neg)
+
+
+def ground_meshes(x, y, z, normals, fields):
+    """
+    Triangles of each ground: [(positions, normals, faces)] in GARDEN_GROUNDS
+    order. Whole triangles keep the grid vertices; triangles on a boundary are
+    cut along it. fields: (soil, mud, track) values at the grid vertices.
+    """
+    rows, cols = z.shape
+    tris = grid_triangles(rows, cols)
+    lab = labels(fields).reshape(-1)[tris]
+    same = (lab == lab[:, :1]).all(1)
+    pos = np.stack([x, y, z], -1).reshape(-1, 3)
+    nrm = normals.reshape(-1, 3)
+    out = []
+    for g in range(len(GARDEN_GROUNDS)):
+        used, faces = np.unique(tris[same & (lab[:, 0] == g)], return_inverse=True)
+        out.append([pos[used], nrm[used], faces.reshape(-1, 3)])
+
+    # Boundary triangles with attributes: position (3), normal (3), then the fields.
+    # They are cut by the last field first, as later grounds win (see labels).
+    bt = tris[~same]
+    attrs = np.concatenate([pos[bt], nrm[bt]] + [f.reshape(-1)[bt][..., None] for f in fields], -1)
+    parts = [None] * len(GARDEN_GROUNDS)
+    rest = attrs
+    for i in range(len(fields), 0, -1):
+        parts[i], rest = clip(rest, rest[..., 5 + i])
+    parts[0] = rest
+    for g, part in enumerate(parts):
+        if not len(part):
+            continue
+        p, n, f = out[g]
+        n_new = part[..., 3:6].reshape(-1, 3)
+        n_new /= np.linalg.norm(n_new, axis=-1, keepdims=True)
+        out[g] = [np.concatenate([p, part[..., :3].reshape(-1, 3)]), np.concatenate([n, n_new]),
+                  np.concatenate([f, len(p) + np.arange(len(part) * 3).reshape(-1, 3)])]
+    return out
+
+
+def hole_distance(hole, x, y):
+    """Distance from a hole middle in its radii: 1 at its edge."""
+    dx, dy = x - hole.x, y - hole.y
+    along = dx * math.cos(hole.angle) + dy * math.sin(hole.angle)
+    across = -dx * math.sin(hole.angle) + dy * math.cos(hole.angle)
+    return np.hypot(along / (hole.r * SCALE), across / (hole.width * SCALE))
+
+
+def write_water(path, x, y, z, holes):
+    """
+    Water of the holes in one glTF: for each, the terrain cells below its
+    water level, cut exactly along the shore and flattened to the level.
+    Returns the path, or '' without water.
+    """
+    parts = []
+    for hole in holes:
+        w = window(x, y, hole.x, hole.y, hole.r * SCALE)
+        wx, wy, wz = x[w], y[w], z[w]
+        level = float(wz.min() + WATER_LEVEL * hole.depth * SCALE)
+        # Under water: below the level and inside the pit (ruts nearby may be lower too).
+        field = np.minimum(level - wz, (0.95 - hole_distance(hole, wx, wy)) * 0.1)
+        tris = grid_triangles(*wz.shape)
+        attrs = np.stack([wx, wy, field], -1).reshape(-1, 3)[tris]
+        wet, _ = clip(attrs, attrs[..., 2])
+        if len(wet):
+            parts.append(np.concatenate([wet[..., :2], np.full(wet.shape[:2] + (1,), level)], -1))
+    if not parts:
+        return ''
+    tris = np.concatenate(parts)
+    p = tris.reshape(-1, 3)
+    # The water material is set in the world (glTF colors without a texture are not used by Gazebo).
+    gltf.write(path, p, np.tile([0.0, 0.0, 1.0], (len(p), 1)), p[:, :2] / 0.5, np.arange(len(p)).reshape(-1, 3))
+    return path
+
+
+def start_points(terrain, z_at):
+    """Start points: [{name, x, y, z, yaw}] (world m, rad)."""
+    spacing = trees.ROW_SPACING * SCALE
+    points = []
+    for name, place in START_POINTS:
+        if isinstance(place[0], str):
+            x, y = terrain.road_point(*place)
+            # Counterclockwise along the road: the road offset grows outward, the heading is across it.
+            e = 0.01
+            s = terrain.road(np.array([x + e, x - e, x, x]), np.array([y, y, y + e, y - e]))
+            yaw = math.atan2(s[0] - s[1], s[3] - s[2])
+        else:
+            x, y = place[0], place[1] * spacing
+            yaw = 0.0 if x < 0 else math.pi
+        z = float(z_at(np.array([x]), np.array([y]))[0])
+        points.append(dict(name=name, x=round(float(x), 3), y=round(float(y), 3), z=round(z, 4), yaw=round(yaw, 4)))
+    return points
+
+
+def write_ground(path, positions, normals, faces, uv_tile):
+    uvs = np.stack([positions[:, 0], -positions[:, 1]], -1) / uv_tile
+    gltf.write(path, positions, normals, uvs, faces)
+
+
+def scatter(terrain, z_at, rng, density, edge_density):
+    """
+    Random points (x, y, z) for plants: 'density' per real m^2 on the grass,
+    plus 'edge_density' along the patch edges on both sides (not in mud).
+    """
+    half = SIZE / 2 - 0.2
+    area = (2 * half / SCALE) ** 2      # real m^2
+    peak = density + edge_density
+    n = rng.poisson(area * peak)
+    x, y = rng.uniform(-half, half, (2, n))
+    soil, mud, track = terrain.fields(x, y)
+    # Distance to the nearest ground edge, real m, from the field values.
+    edge = np.minimum(np.minimum(np.abs(soil) * SOIL_SIZE, np.abs(mud) * MUD_SIZE), np.abs(track))
+    on_grass = (soil <= 0) & (mud <= 0) & (track <= 0)
+    d = density * on_grass + edge_density * np.exp(-(edge / CARDS_EDGE_BAND) ** 2) * (mud <= 0) * (track <= 0)
+    # Thinning out towards the terrain border, where the surroundings go on without plants.
+    d = d * (1 - Terrain._fade(x, y))
+    keep = rng.uniform(0, peak, n) < d
+    return x[keep], y[keep], z_at(x[keep], y[keep])
+
+
+def write_cards(out_dir, key, terrain, z_at, seed):
+    """Grass cards in one glTF, CARDS_PLANES crossed rectangles each; {name, mesh} or None without cards."""
+    rng = np.random.default_rng(seed * 7 + 6)
+    grass = terrain.options.grass
+    x, y, z = scatter(terrain, z_at, rng, CARDS_DENSITY * grass, CARDS_EDGE_DENSITY * grass)
+    n = len(x)
+    if not n:
+        return None
+    sprites = CARDS
+    weights = np.array([next((wt for prefix, wt in CARD_WEIGHTS if s['name'].startswith(prefix + '__')), 0.3)
+                        for s in sprites])
+    pick = rng.choice(len(sprites), n, p=weights / weights.sum())
+    w = np.array([s['width'] for s in sprites])[pick]
+    h = np.array([s['height'] for s in sprites])[pick]
+    uv = np.array([s['uv'] for s in sprites])[pick]
+    scale = rng.uniform(*CARDS_SIZE, n) * SCALE
+    w, h = w * scale, h * scale
+    yaw = rng.uniform(0, math.pi, n)
+    positions, uvs = [], []
+    for k in range(CARDS_PLANES):
+        a = yaw + k * math.pi / CARDS_PLANES
+        dx, dy = np.cos(a) * w / 2, np.sin(a) * w / 2
+        bottom = z - 0.003      # a little into the ground, so no gap shows
+        quad = [(x - dx, y - dy, bottom), (x + dx, y + dy, bottom), (x + dx, y + dy, z + h), (x - dx, y - dy, z + h)]
+        positions.append(np.stack([np.stack(c, -1) for c in quad], 1))
+        quad_uv = [(uv[:, 0], uv[:, 3]), (uv[:, 2], uv[:, 3]), (uv[:, 2], uv[:, 1]), (uv[:, 0], uv[:, 1])]
+        uvs.append(np.stack([np.stack(c, -1) for c in quad_uv], 1))
+    positions = np.concatenate(positions)     # (CARDS_PLANES * n, 4, 3)
+    uvs = np.concatenate(uvs)
+    # Both sides of each rectangle are separate faces, all with normals up, so a
+    # card is lit like the ground under it from any side (a two-sided material
+    # would flip the normal of the back side down and make that side dark).
+    positions = np.concatenate([positions, positions])
+    uvs = np.concatenate([uvs, uvs])
+    m = len(positions) // 2
+    base = np.arange(m)[:, None] * 4
+    back = base + m * 4
+    faces = np.concatenate([base + [0, 1, 2], base + [0, 2, 3], back + [0, 2, 1], back + [0, 3, 2]])
+    atlas = os.path.basename(CARDS_ATLAS)
+    shutil.copy(os.path.join(ASSETS_DIR, CARDS_ATLAS), os.path.join(out_dir, atlas))
+    material = dict(name='grass_cards', alphaMode='MASK', alphaCutoff=0.5,
+                    pbrMetallicRoughness=dict(baseColorTexture=dict(index=0), metallicFactor=0.0, roughnessFactor=1.0))
+    path = os.path.join(out_dir, f'grass_cards_{key}.gltf')
+    p = positions.reshape(-1, 3)
+    gltf.write(path, p, np.tile([0.0, 0.0, 1.0], (len(p), 1)), uvs.reshape(-1, 2), faces,
+               material=material, images=[atlas])
+    return dict(name='grass_cards', mesh=path)
+
+
+def ground_color(ground):
+    return GROUNDS[ground].get('color', [1.0, 1.0, 1.0])
+
+
+def macro_tile(ground):
+    """World size of one repeat of the ground macro texture, m."""
+    return GROUNDS[ground]['tile'] * SCALE * textures.GRID
+
+
+def ground_texture(cache_dir, ground):
+    """Directory of the macro texture of a ground (see textures.py), built once into cache_dir/textures."""
+    texture = GROUNDS[ground]['texture']
+    with open(os.path.join(textures.TEXTURES_DIR, texture, texture + '_albedo.jpg'), 'rb') as f:
+        params = repr((texture, textures.GRID, textures.SIZE, textures.SHARPNESS, textures.BRIGHTNESS))
+        params += hashlib.sha1(f.read()).hexdigest()
+    name = f'garden_{ground}_' + hashlib.sha1(params.encode()).hexdigest()[:10]
+    return textures.make(texture, os.path.join(cache_dir, 'textures'), name, seed=len(ground))
+
+
+def write_surroundings(out_dir, key, cache_dir, terrain, z_offset):
+    """Rings around the terrain, without the cells well inside the next ring in; their border cells go under it."""
+    surroundings, inner = [], SIZE
+    for i, (ring_size, ring_step) in enumerate(RINGS):
+        ox, oy = grid(ring_size, ring_step)
+        oz = terrain.horizon(ox, oy) - z_offset
+        inside = (np.abs(ox) < inner / 2 - 1e-6) & (np.abs(oy) < inner / 2 - 1e-6)
+        # Lowered by more on coarse rings, as their straight cells cut across the curved relief.
+        oz[inside] -= 0.025 * ring_step + 0.01
+        cell_inside = inside[:-1, :-1] & inside[:-1, 1:] & inside[1:, :-1] & inside[1:, 1:]
+        deep = (np.abs(ox[:-1, :-1] + ring_step / 2) < inner / 2 - ring_step)
+        deep &= (np.abs(oy[:-1, :-1] - ring_step / 2) < inner / 2 - ring_step)
+        used, faces = np.unique(grid_triangles(*oz.shape, keep=~(cell_inside & deep)), return_inverse=True)
+        p = np.stack([ox, oy, oz], -1).reshape(-1, 3)[used]
+        n = grid_normals(oz, ring_step).reshape(-1, 3)[used]
+        mesh = os.path.join(out_dir, f'surroundings{i}_{key}.gltf')
+        # Far rings are seen only from afar: a much larger texture repeat avoids ripples near the horizon.
+        write_ground(mesh, p, n, faces.reshape(-1, 3), macro_tile(OUTSIDE) * (1 if i == 0 else FAR_TILE))
+        surroundings.append(dict(name=f'ring{i}', mesh=mesh, texture=ground_texture(cache_dir, OUTSIDE),
+                                 color=ground_color(OUTSIDE)))
+        inner = ring_size
+    return surroundings
+
+
+def build(cache_dir, relief_name, seed, options=Options()):
+    """Build the terrain files into a cache_dir subdirectory (if not built yet) and return the terrain.yaml path."""
+    grounds_cfg = options.grounds()
+    # The key covers the options, this code, the parameter files and the source data.
+    params = repr((relief_name, seed, grounds_cfg, CARDS, options))
+    for path in (__file__, textures.__file__, trees.__file__, os.path.join(HERE, 'relief', 'steppe.png')):
+        with open(path, 'rb') as f:
+            params += hashlib.sha1(f.read()).hexdigest()
+    key = hashlib.sha1(params.encode()).hexdigest()[:10]
+    out_dir = os.path.join(cache_dir, 'terrain_' + key)
+    info_path = os.path.join(out_dir, 'terrain.yaml')
+    if os.path.isfile(info_path):
+        return info_path
+
+    os.makedirs(out_dir, exist_ok=True)
+    terrain = Terrain(relief_name, seed, options)
+    x, y = grid()
+    fields = terrain.fields(x, y)
+    z = terrain.heights(x, y, fields)
+    z_offset = z.mean()
+    z -= z_offset
+    # The height map is lower under the grounds with their own collision meshes.
+    own = np.isin(labels(fields), [GARDEN_GROUNDS.index(g) for g in OWN_COLLISION])
+    z_collision = z - FRICTION_GAP * own
+    z_min, z_max = float(z_collision.min()), float(z_collision.max())
+    heightmap = os.path.join(out_dir, f'heightmap_{key}.png')
+    data = np.round((z_collision - z_min) / (z_max - z_min) * 65535)
+    Image.fromarray(data.astype(np.uint16)).save(heightmap)
+
+    grounds = []
+    k = VISUAL_STEP
+    meshes = ground_meshes(x[::k, ::k], y[::k, ::k], z[::k, ::k], grid_normals(z[::k, ::k], STEP * k),
+                           [f[::k, ::k] for f in fields])
+    for name, (p, n, f) in zip(GARDEN_GROUNDS, meshes):
+        if not len(f):
+            continue
+        mesh = os.path.join(out_dir, f'ground_{name}_{key}.gltf')
+        write_ground(mesh, p, n, f, macro_tile(name))
+        grounds.append(dict(name=name, mesh=mesh, texture=ground_texture(cache_dir, name), color=ground_color(name),
+                            collision=name in OWN_COLLISION, mu=grounds_cfg[name]['mu']))
+
+    def z_at(px, py):
+        return bilinear(z, (px + SIZE / 2) / STEP, (SIZE / 2 - py) / STEP)
+
+    cards = write_cards(out_dir, key, terrain, z_at, seed)
+    orchard = trees.build(out_dir, key, z_at, seed, options.tree_rows)
+    water = write_water(os.path.join(out_dir, f'water_{key}.gltf'), x, y, z,
+                        [h for h in terrain.pits + terrain.puddles if h.water])
+    features = dict(water=water, water_color=WATER_COLOR, water_roughness=WATER_ROUGHNESS,
+                    pits=[dict(x=round(float(p.x), 3), y=round(float(p.y), 3), radius=round(p.r * SCALE, 3),
+                               depth=round(p.depth * SCALE, 3), water=p.water) for p in terrain.pits],
+                    puddles=[dict(x=round(float(p.x), 3), y=round(float(p.y), 3), length=round(2 * p.r * SCALE, 3),
+                                  depth=round(p.depth * SCALE, 3)) for p in terrain.puddles])
+
+    surroundings = write_surroundings(out_dir, key, cache_dir, terrain, z_offset)
+
+    info = dict(size=SIZE, z_min=z_min, z_max=z_max, heightmap=heightmap, mu=grounds_cfg[OUTSIDE]['mu'],
+                grounds=grounds, plants=[cards] if cards else [], trees=orchard, surroundings=surroundings,
+                features=features, start_points=start_points(terrain, z_at))
+    with open(info_path, 'w') as f:
+        yaml.safe_dump(info, f, sort_keys=False)
+    return info_path
diff --git a/src/platform/kpi_rover_worlds/worlds/garden/textures.py b/src/platform/kpi_rover_worlds/worlds/garden/textures.py
new file mode 100644
index 0000000..fd45d13
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/textures.py
@@ -0,0 +1,112 @@
+"""
+Ground textures without visible repetition.
+
+A photo texture repeated over a large area shows a regular grid of copies.
+make() builds a macro texture of GRID x GRID repeats of a photo texture from
+assets/textures, where every repeat is a differently shifted, flipped
+or turned copy, blended with soft irregular seams, and the brightness varies
+in broad patches. The macro texture is seamless too, but repeats GRID times
+less often, and its copies differ, so the eye doesn't catch the grid.
+"""
+
+import os
+
+import numpy as np
+from PIL import Image
+
+TEXTURES_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', '..', 'assets', 'textures')
+
+GRID = 3            # repeats of the photo texture along each side of the macro texture
+SIZE = 3072         # macro texture side, px: the full resolution of the photo texture
+SHARPNESS = 20.0    # how narrow the seams between copies are
+BRIGHTNESS = 0.08   # broad brightness variation, fraction
+
+
+def _periodic_noise(n, cells, rng):
+    """Smooth seamless noise on an n x n image with 'cells' random values per side, in about [-1, 1]."""
+    v = rng.uniform(-1, 1, (cells, cells))
+    t = np.arange(n) / n * cells
+    i0 = np.floor(t).astype(int)
+    f = t - i0
+    f = f * f * (3 - 2 * f)
+    i1 = (i0 + 1) % cells
+    rows = v[i0][:, i0] * (1 - f)[None, :] + v[i0][:, i1] * f[None, :]
+    rows1 = v[i1][:, i0] * (1 - f)[None, :] + v[i1][:, i1] * f[None, :]
+    return rows * (1 - f)[:, None] + rows1 * f[:, None]
+
+
+def _variant(img, kind, normal):
+    """Flipped or turned copy of a texture; normal map vectors are turned with it."""
+    if kind == 1:       # turned 180 degrees
+        img = img[::-1, ::-1]
+        if normal:
+            img = img.copy()
+            img[..., :2] = 1 - img[..., :2]
+    elif kind == 2:     # mirrored left-right
+        img = img[:, ::-1]
+        if normal:
+            img = img.copy()
+            img[..., 0] = 1 - img[..., 0]
+    elif kind == 3:     # mirrored top-bottom
+        img = img[::-1]
+        if normal:
+            img = img.copy()
+            img[..., 1] = 1 - img[..., 1]
+    return img
+
+
+def make(texture, out_dir, name, seed):
+    """
+    Build a macro texture of the photo texture directory 'texture' as
+    out_dir/name/name_{albedo,normal,roughness}.jpg and return the directory.
+    """
+    path = os.path.join(out_dir, name)
+    if os.path.isfile(os.path.join(path, name + '_roughness.jpg')):
+        return path
+    os.makedirs(path, exist_ok=True)
+    rng = np.random.default_rng(seed)
+    cell = SIZE // GRID
+
+    # Each copy: a cell it is centered at (jittered), a shift and a variant.
+    centers = (np.stack(np.meshgrid(np.arange(GRID), np.arange(GRID)), -1).reshape(-1, 2)
+               + 0.5 + rng.uniform(-0.3, 0.3, (GRID * GRID, 2))) * cell
+    shifts = rng.integers(0, cell, (GRID * GRID, 2))
+    kinds = rng.integers(0, 4, GRID * GRID)
+
+    # Soft weights of the copies: nearest copy wins, seams wobble with noise.
+    yy, xx = np.mgrid[0:SIZE, 0:SIZE].astype(np.float32)
+    xx += _periodic_noise(SIZE, GRID * 4, rng).astype(np.float32) * cell * 0.25
+    yy += _periodic_noise(SIZE, GRID * 4, rng).astype(np.float32) * cell * 0.25
+
+    def weight(k):
+        cx, cy = (float(c) for c in centers[k])
+        dx = (xx - cx + SIZE / 2) % SIZE - SIZE / 2
+        dy = (yy - cy + SIZE / 2) % SIZE - SIZE / 2
+        return np.exp(-SHARPNESS * (dx * dx + dy * dy) / (cell * cell))
+
+    brightness = 1 + BRIGHTNESS * _periodic_noise(SIZE, GRID, rng) + BRIGHTNESS / 2 * _periodic_noise(SIZE, GRID * 3, rng)
+
+    src = os.path.join(TEXTURES_DIR, texture, texture)
+    kinds_out = ('albedo', 'normal', 'roughness')
+    imgs = [np.asarray(Image.open(f'{src}_{kind}.jpg').convert('RGB').resize((cell, cell), Image.LANCZOS))
+            .astype(np.float32) / 255 for kind in kinds_out]
+    outs = [np.zeros((SIZE, SIZE, 3), np.float32) for _ in kinds_out]
+    total = np.zeros((SIZE, SIZE), np.float32)
+    for k in range(GRID * GRID):
+        w = weight(k)
+        total += w
+        for kind, img, out in zip(kinds_out, imgs, outs):
+            v = np.roll(_variant(img, kinds[k], kind == 'normal'), tuple(shifts[k]), axis=(0, 1))
+            out += w[..., None] * np.tile(v, (GRID, GRID, 1))
+    for kind, out in zip(kinds_out, outs):
+        out /= total[..., None]
+        if kind == 'normal':
+            # Blending shortens the normals; make them unit length again.
+            n = out * 2 - 1
+            n /= np.linalg.norm(n, axis=-1, keepdims=True) + 1e-6
+            out = (n + 1) / 2
+        if kind == 'albedo':
+            out *= brightness[..., None]
+        Image.fromarray((np.clip(out, 0, 1) * 255).astype(np.uint8)).save(
+            os.path.join(path, f'{name}_{kind}.jpg'), quality=90)
+    return path
diff --git a/src/platform/kpi_rover_worlds/worlds/garden/trees.py b/src/platform/kpi_rover_worlds/worlds/garden/trees.py
new file mode 100644
index 0000000..4ae56fb
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/garden/trees.py
@@ -0,0 +1,177 @@
+"""
+Trees of the garden: apple tree models (made with Blender's Sapling Tree Gen),
+planted in rows and scaled down to the robot (SCALE).
+
+Each tree is one of the models, turned and sized at random; a few are
+missing or younger, as in a real orchard. The wood gets the bark photo
+texture of assets/textures in real size, each triangle projected onto
+its own plane with v along the branch. The leaf cards of the model get the
+leaf cluster pictures (CLUSTERS), a random one on each card, mirrored
+at random. Both sides of a card are separate faces with normals pointing
+away from the crown middle, so the crown is lit as one rounded mass from
+any side (a two-sided material would make the back sides dark).
+
+All trees of a model go into one wood mesh, and all leaves into one mesh, to
+keep the drawing cheap. The robot collides with the stems only: cylinders up
+to above the robot, where the crowns begin.
+
+Trees stand in rows along x, ROW_SPACING apart, TREE_SPACING apart in a row.
+"""
+
+import math
+import os
+import shutil
+
+import numpy as np
+import yaml
+
+from kpi_rover_worlds import gltf
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+ASSETS_DIR = os.path.join(HERE, '..', '..', 'assets')
+
+# The garden is modeled in real sizes, then scaled down so that a real orchard
+# tree is TREE_HEIGHT_ROBOTS robot heights (0.345 m with the lidar) tall.
+TREE_HEIGHT_ROBOTS = 4
+REAL_TREE_HEIGHT = 4.0
+SCALE = 0.345 * TREE_HEIGHT_ROBOTS / REAL_TREE_HEIGHT
+ROW_SPACING = 5.5       # real distance between tree rows, m
+
+# Models in assets/models/<name>/: <name>_wood.gltf, <name>_leaves.yaml; their real stem radius, m.
+STEM_RADIUS = {'apple_1': 0.134, 'apple_2': 0.1, 'apple_3': 0.124, 'apple_4': 0.118}
+CLUSTERS = 'models/apple_leaves/apple_clusters.png'     # leaf cluster pictures side by side
+CLUSTER_VARIANTS = 4
+
+GARDEN_HALF_X = 6.0     # half length of the rows, world m
+ROWS = 6                # tree rows by default (the tree_rows world argument)
+TREE_SPACING = 4.5      # real distance between trees in a row, m
+JITTER = 0.15           # real random offset of a tree from its place, m
+SIZE = (0.9, 1.1)       # random size of a tree
+MISSING = 0.04          # share of missing trees
+YOUNG = 0.08            # share of young trees
+YOUNG_SIZE = 0.65
+BARK = 'tree_bark'      # bark photo texture in assets/textures
+BARK_TILE = 2.15        # real size one bark texture repeat covers, m (see textures/CREDITS.md)
+
+
+def layout(seed, rows=ROWS):
+    """Tree places in 'rows' rows: [(x, y, young)] in world m."""
+    rng = np.random.default_rng(seed * 7 + 9)
+    spacing_y = ROW_SPACING * SCALE
+    spacing_x = TREE_SPACING * SCALE
+    count_x = int(2 * GARDEN_HALF_X / spacing_x) + 1
+    places = []
+    for row in range(rows):
+        y = (row - (rows - 1) / 2) * spacing_y
+        for i in range(count_x):
+            x = (i - (count_x - 1) / 2) * spacing_x
+            r = rng.uniform(0, 1)
+            if r < MISSING:
+                continue
+            jx, jy = rng.normal(0, JITTER * SCALE, 2)
+            places.append((x + jx, y + jy, r < MISSING + YOUNG))
+    return places
+
+
+def bark_uvs(p, f):
+    """UVs in real meters: each triangle projected onto its plane, v along the steepest direction in it."""
+    uv = np.zeros((len(p), 2))
+    a, b, c = p[f[:, 0]], p[f[:, 1]], p[f[:, 2]]
+    n = np.cross(b - a, c - a)
+    n /= np.linalg.norm(n, axis=1, keepdims=True) + 1e-12
+    side = np.cross([0.0, 0.0, 1.0], n)
+    flat = np.linalg.norm(side, axis=1) < 0.2        # facing up or down: any direction will do
+    side[flat] = [1.0, 0.0, 0.0]
+    side /= np.linalg.norm(side, axis=1, keepdims=True)
+    up = np.cross(n, side)
+    for k in range(3):
+        q = p[f[:, k]]
+        uv[f[:, k]] = np.stack([(q * side).sum(1), -(q * up).sum(1)], 1) / BARK_TILE
+    return uv
+
+
+def load(name):
+    """Wood arrays with bark UVs, and leaf cards of a tree model."""
+    g, buffers = gltf.read(os.path.join(ASSETS_DIR, 'models', name, f'{name}_wood.gltf'))
+    p, n, _, f = gltf.mesh_data(g, buffers, g['nodes'][0]['mesh'])
+    # Vertices are separate for each triangle, so each can have its own projection.
+    wood = (p, n, bark_uvs(p, f), f)
+    with open(os.path.join(ASSETS_DIR, 'models', name, f'{name}_leaves.yaml')) as f:
+        leaves = yaml.load(f, yaml.CSafeLoader)
+    cards = tuple(np.array(leaves[k], float) for k in ('centers', 'u', 'v'))
+    return wood, cards
+
+
+def build(out_dir, key, z_at, seed, rows=ROWS):
+    """
+    Build all trees in 'rows' rows: write the wood and leaves glTFs into out_dir and return
+    {wood: [{name, mesh, texture, color}], leaves, stems: [{x, y, z, radius}]}.
+    """
+    rng = np.random.default_rng(seed * 7 + 10)
+    names = sorted(STEM_RADIUS)
+    models = {name: load(name) for name in names}
+    places = layout(seed, rows)
+    if not places:
+        return dict(wood=[], leaves='', stems=[])
+    zs = z_at(np.array([p[0] for p in places]), np.array([p[1] for p in places]))
+    wood_parts = {name: [] for name in names}
+    centers, us, vs, mids, stems = [], [], [], [], []
+    for (x, y, young), z in zip(places, zs):
+        name = names[rng.integers(len(names))]
+        (p, n, uv, f), (c, u, v) = models[name]
+        k = rng.uniform(*SIZE) * (YOUNG_SIZE if young else 1.0) * SCALE
+        yaw = rng.uniform(0, 2 * math.pi)
+        cs, sn = math.cos(yaw), math.sin(yaw)
+        rot = np.array([[cs, -sn, 0], [sn, cs, 0], [0, 0, 1]])
+        offset = np.array([x, y, z - 0.01])     # a little into the ground
+        wood_parts[name].append((p @ rot.T * k + offset, n @ rot.T, uv, f))
+        c = c @ rot.T * k + offset
+        middle = c.mean(0)
+        centers.append(c)
+        us.append(u @ rot.T * k)
+        vs.append(v @ rot.T * k)
+        mids.append(np.repeat([middle], len(c), 0))
+        stems.append(dict(x=float(x), y=float(y), z=float(z), radius=round(float(STEM_RADIUS[name] * k), 4)))
+
+    wood = []
+    for name, parts in wood_parts.items():
+        if not parts:
+            continue
+        offsets = np.cumsum([0] + [len(part[0]) for part in parts[:-1]])
+        path = os.path.join(out_dir, f'trees_{name}_{key}.gltf')
+        gltf.write(path, np.concatenate([part[0] for part in parts]), np.concatenate([part[1] for part in parts]),
+                   np.concatenate([part[2] for part in parts]),
+                   np.concatenate([part[3] + o for part, o in zip(parts, offsets)]))
+        wood.append(dict(name=name, mesh=path, texture=BARK, color=[1.0, 1.0, 1.0]))
+
+    # Leaf cards: two-sided rectangles with a random cluster picture along their long side, mirrored at random.
+    c, u, v, mid = (np.concatenate(a) for a in (centers, us, vs, mids))
+    m = len(c)
+    long_v = np.linalg.norm(v, axis=1) > np.linalg.norm(u, axis=1)
+    u[long_v], v[long_v] = v[long_v].copy(), u[long_v].copy()
+    u *= rng.choice([-1, 1], (m, 1))
+    v *= rng.choice([-1, 1], (m, 1))
+    corners = np.stack([c - u - v, c + u - v, c + u + v, c - u + v], 1)
+    normals = corners - mid[:, None, :]
+    normals[..., 2] += 0.3 * np.linalg.norm(normals, axis=-1)      # crowns are lit more from above
+    normals /= np.linalg.norm(normals, axis=-1, keepdims=True)
+    variant = rng.integers(0, CLUSTER_VARIANTS, m)
+    u0, u1 = variant / CLUSTER_VARIANTS, (variant + 1) / CLUSTER_VARIANTS
+    uvs = np.stack([np.stack([u0, np.ones(m)], -1), np.stack([u1, np.ones(m)], -1),
+                    np.stack([u1, np.zeros(m)], -1), np.stack([u0, np.zeros(m)], -1)], 1)
+    # Both sides as separate faces with the same normals.
+    corners = np.concatenate([corners, corners])
+    normals = np.concatenate([normals, normals])
+    uvs = np.concatenate([uvs, uvs])
+    q = np.arange(m)[:, None] * 4
+    back = q + m * 4
+    faces = np.concatenate([q + [0, 1, 2], q + [0, 2, 3], back + [0, 2, 1], back + [0, 3, 2]])
+    atlas = os.path.basename(CLUSTERS)
+    shutil.copy(os.path.join(ASSETS_DIR, CLUSTERS), os.path.join(out_dir, atlas))
+    material = dict(name='apple_leaves', alphaMode='MASK', alphaCutoff=0.5,
+                    pbrMetallicRoughness=dict(baseColorTexture=dict(index=0), metallicFactor=0.0, roughnessFactor=0.8))
+    leaves = os.path.join(out_dir, f'trees_leaves_{key}.gltf')
+    gltf.write(leaves, corners.reshape(-1, 3), normals.reshape(-1, 3), uvs.reshape(-1, 2), faces,
+               material=material, images=[atlas])
+
+    return dict(wood=wood, leaves=leaves, stems=stems)
diff --git a/src/platform/kpi_rover_worlds/worlds/maze/levels/level1.txt b/src/platform/kpi_rover_worlds/worlds/maze/levels/level1.txt
new file mode 100644
index 0000000..4f07bc5
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/maze/levels/level1.txt
@@ -0,0 +1,9 @@
+###########
+S       # #
+### #D# # #
+#   # #   #
+##### #####
+#         #
+###A#N#####
+#         E
+###########
diff --git a/src/platform/kpi_rover_worlds/worlds/maze/levels/level2.txt b/src/platform/kpi_rover_worlds/worlds/maze/levels/level2.txt
new file mode 100644
index 0000000..07ca6d9
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/maze/levels/level2.txt
@@ -0,0 +1,11 @@
+###############
+S #       #   #
+# #D### ### # #
+#   #     A # #
+# ### #######T#
+# #     #   # #
+# ### # # # # #
+#     #   #   #
+#N##### #L### #
+#       L     E
+###############
diff --git a/src/platform/kpi_rover_worlds/worlds/maze/levels/level3.txt b/src/platform/kpi_rover_worlds/worlds/maze/levels/level3.txt
new file mode 100644
index 0000000..ac20bf4
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/maze/levels/level3.txt
@@ -0,0 +1,15 @@
+#####################
+#     #     N   #   #
+# ##### ###T#N# # # #
+# T     #   # L # # #
+# ### # # # # # # # #
+# #   # # # # L   # #
+# # ### # # # #L#L# #
+S #     # #       # E
+# ####### ######### #
+#     # # D #   #   #
+##### # ### #A# # # #
+# #   #   # # # # # #
+# # ### # # # # # #A#
+#         #   #     #
+#####################
diff --git a/src/platform/kpi_rover_worlds/worlds/maze/maze.py b/src/platform/kpi_rover_worlds/worlds/maze/maze.py
new file mode 100644
index 0000000..f16b8eb
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/maze/maze.py
@@ -0,0 +1,403 @@
+"""
+Maze world: a warehouse with a maze of walls and arches, a fixed level or a random one.
+
+A maze is a text grid of (2 * rows + 1) lines of (2 * cols + 1) characters.
+Cells are at odd line and odd column indices, everything else is a wall
+position between cells or a corner:
+    '#'      - wall
+    ' '      - open passage (in a wall position) or a cell
+    'S', 'E' - entrance and exit, open passages in the outer wall
+    letters  - openings from ARCHES, e.g. 'A' arch or 'L' too low arch
+
+Example:
+    #######
+    S  A  #
+    ### # #
+    #   L E
+    #######
+
+Start points: 'a' outside the entrance and 'b' outside the exit, facing into
+the maze; the shortest route between them is a blue line, GUI only. To print
+a maze: python3 maze.py --maze random --seed 7 --difficulty hard
+
+Random mazes are perfect mazes (a spanning tree of passages) with a few extra
+loops, so every cell is reachable. Passable arches replace passages on the
+route from the entrance to the exit and impassable arches replace walls, so
+the exit always stays reachable; the generator checks it anyway. Impassable
+arches are put where they look like shortcuts. The same seed and difficulty
+always give the same maze.
+"""
+
+import argparse
+import math
+import os
+import random
+from collections import deque
+
+from kpi_rover_worlds import scatter, sdf
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+LEVELS_DIR = os.path.join(HERE, 'levels')
+
+CELL = 0.7              # cell size, m; corridors are CELL - WALL_THICKNESS wide
+WALL_THICKNESS = 0.05
+WALL_HEIGHT = 0.5       # not higher than two robot heights
+MARGIN = 1.5            # free space between the maze and the warehouse walls
+START_DISTANCE = 0.6    # distance of start points from the entrance and exit
+
+# Random maze parameters for each difficulty: size in cells (cols, rows),
+# number of extra loops, passable arches on the route and impassable arches.
+DIFFICULTIES = {
+    'easy': dict(size=(5, 4), loops=1, arches='DA', traps='N'),
+    'medium': dict(size=(7, 5), loops=2, arches='DAT', traps='NLL'),
+    'hard': dict(size=(10, 7), loops=3, arches='DAATT', traps='NNLLLL'),
+}
+
+DIRECTIONS = ((0, 1), (1, 0), (0, -1), (-1, 0))
+
+# Free space kept around the maze and on the way from start points to the maze, m.
+MAZE_MARGIN = 0.4
+START_RADIUS = 0.6
+ARCH_COLOR = (0.55, 0.42, 0.3)      # arch_material 'contrast'
+
+# Openings by their letter in maze grids: clear width and height (None: a
+# doorway without a lintel), m, and whether the robot (0.26 m wide, 0.345 m
+# high, lidar at 0.245 m) fits through. T fits with about 3 cm to spare; the
+# L lintel is above the lidar scan plane, so the opening looks free to the
+# lidar, but the robot hits it.
+ARCHES = {
+    'D': dict(name='door', width=0.55, height=None, passable=True),
+    'A': dict(name='arch', width=0.45, height=0.45, passable=True),
+    'T': dict(name='tight_arch', width=0.32, height=0.38, passable=True),
+    'N': dict(name='narrow_arch', width=0.20, height=0.45, passable=False),
+    'L': dict(name='low_arch', width=0.45, height=0.30, passable=False),
+}
+
+
+def available_levels():
+    return sorted(f[:-4] for f in os.listdir(LEVELS_DIR) if f.endswith('.txt'))
+
+
+class Maze:
+    def __init__(self, grid):
+        self.grid = [list(line) for line in grid]
+        self.rows = (len(self.grid) - 1) // 2
+        self.cols = (len(self.grid[0]) - 1) // 2
+
+    @classmethod
+    def parse(cls, text):
+        lines = [line.rstrip('\n') for line in text.splitlines() if line.strip()]
+        width = max(len(line) for line in lines)
+        lines = [line.ljust(width) for line in lines]
+        if len(lines) % 2 == 0 or width % 2 == 0:
+            raise ValueError('Maze grid must have an odd number of lines and columns.')
+        return cls(lines)
+
+    def text(self):
+        return '\n'.join(''.join(line) for line in self.grid)
+
+    def cells(self):
+        return [(r, c) for r in range(1, 2 * self.rows, 2) for c in range(1, 2 * self.cols, 2)]
+
+    def find(self, char):
+        found = [(r, c) for r, line in enumerate(self.grid) for c, ch in enumerate(line) if ch == char]
+        if len(found) != 1:
+            raise ValueError(f"Maze must have exactly one '{char}', found {len(found)}.")
+        return found[0]
+
+    def inner_cell(self, position):
+        """Cell next to an entrance or exit in the outer wall."""
+        r, c = position
+        return (min(max(r, 1), 2 * self.rows - 1), min(max(c, 1), 2 * self.cols - 1))
+
+    def is_boundary(self, r, c):
+        return r in (0, 2 * self.rows) or c in (0, 2 * self.cols)
+
+    def wall_positions(self, interior=True):
+        """Positions between two cells (not corners), optionally only inside the outer wall."""
+        return [(r, c) for r in range(len(self.grid)) for c in range(len(self.grid[0]))
+                if (r + c) % 2 == 1 and not (interior and self.is_boundary(r, c))]
+
+    def wall_cells(self, r, c):
+        """The two cells separated by a wall position."""
+        if r % 2 == 0:
+            return (r - 1, c), (r + 1, c)
+        return (r, c - 1), (r, c + 1)
+
+    def distances(self, start, arches):
+        """BFS distances and parents from a cell, through open passages and passable arches."""
+        dist, parent = {start: 0}, {start: None}
+        queue = deque([start])
+        while queue:
+            r, c = queue.popleft()
+            for dr, dc in DIRECTIONS:
+                wr, wc, nr, nc = r + dr, c + dc, r + 2 * dr, c + 2 * dc
+                if not (0 < nr < 2 * self.rows and 0 < nc < 2 * self.cols) or (nr, nc) in dist:
+                    continue
+                ch = self.grid[wr][wc]
+                if ch == ' ' or (ch in arches and arches[ch]['passable']):
+                    dist[(nr, nc)] = dist[(r, c)] + 1
+                    parent[(nr, nc)] = (wr, wc), (r, c)
+                    queue.append((nr, nc))
+        return dist, parent
+
+    def check(self, arches):
+        """Check the maze characters and that the exit is reachable from the entrance."""
+        allowed = set('# SE') | set(arches)
+        for r, line in enumerate(self.grid):
+            for c, ch in enumerate(line):
+                if ch not in allowed:
+                    raise ValueError(f"Unknown maze character '{ch}' at line {r + 1}, column {c + 1}.")
+                if r % 2 == 1 and c % 2 == 1 and ch != ' ':
+                    raise ValueError(f"Cell at line {r + 1}, column {c + 1} must be ' '.")
+                if r % 2 == 0 and c % 2 == 0 and ch not in '# ':
+                    raise ValueError(f"Corner at line {r + 1}, column {c + 1} must be '#' or ' '.")
+        entrance, exit_ = self.find('S'), self.find('E')
+        for name, position in (('S', entrance), ('E', exit_)):
+            if not self.is_boundary(*position) or sum(position) % 2 == 0:
+                raise ValueError(f"'{name}' must be in the outer wall between corners.")
+        dist, _ = self.distances(self.inner_cell(entrance), arches)
+        if self.inner_cell(exit_) not in dist:
+            raise ValueError('Exit is not reachable from the entrance.')
+
+
+def generate(seed, difficulty):
+    """Random maze for a seed and difficulty from DIFFICULTIES."""
+    if difficulty not in DIFFICULTIES:
+        raise ValueError(f"Unknown difficulty '{difficulty}'. Available: {', '.join(DIFFICULTIES)}.")
+    cfg = DIFFICULTIES[difficulty]
+    arches = ARCHES
+    rng = random.Random(f'{seed}:{difficulty}')
+    cols, rows = cfg['size']
+    maze = Maze([['#'] * (2 * cols + 1) for _ in range(2 * rows + 1)])
+    for r, c in maze.cells():
+        maze.grid[r][c] = ' '
+
+    # Perfect maze with an iterative recursive backtracker.
+    start = rng.choice(maze.cells())
+    visited, stack = {start}, [start]
+    while stack:
+        r, c = stack[-1]
+        options = [(dr, dc) for dr, dc in DIRECTIONS
+                   if 0 < r + 2 * dr < 2 * rows and 0 < c + 2 * dc < 2 * cols and (r + 2 * dr, c + 2 * dc) not in visited]
+        if not options:
+            stack.pop()
+            continue
+        dr, dc = rng.choice(options)
+        maze.grid[r + dr][c + dc] = ' '
+        visited.add((r + 2 * dr, c + 2 * dc))
+        stack.append((r + 2 * dr, c + 2 * dc))
+
+    # Entrance on the left side, exit on the right side.
+    entrance = (2 * rng.randrange(rows) + 1, 0)
+    exit_ = (2 * rng.randrange(rows) + 1, 2 * cols)
+    maze.grid[entrance[0]][entrance[1]] = 'S'
+    maze.grid[exit_[0]][exit_[1]] = 'E'
+
+    # Extra loops give alternative routes.
+    walls = [p for p in maze.wall_positions() if maze.grid[p[0]][p[1]] == '#']
+    for r, c in rng.sample(walls, min(cfg['loops'], len(walls))):
+        maze.grid[r][c] = ' '
+
+    # Passable arches spread along the route from the entrance to the exit.
+    start_cell, end_cell = maze.inner_cell(entrance), maze.inner_cell(exit_)
+    dist, parent = maze.distances(start_cell, arches)
+    route, cell = [], end_cell
+    while parent[cell]:
+        wall, cell = parent[cell]
+        route.append(wall)
+    route.reverse()
+    letters = list(cfg['arches'])
+    rng.shuffle(letters)
+    for i, letter in enumerate(letters[:len(route)]):
+        r, c = route[(2 * i + 1) * len(route) // (2 * len(letters))]
+        maze.grid[r][c] = letter
+
+    # Impassable arches in walls that look like shortcuts: between cells far apart along the passages.
+    dist, _ = maze.distances(start_cell, arches)
+    walls = [p for p in maze.wall_positions() if maze.grid[p[0]][p[1]] == '#']
+    rng.shuffle(walls)
+    walls.sort(key=lambda p: -abs(dist[maze.wall_cells(*p)[0]] - dist[maze.wall_cells(*p)[1]]))
+    for (r, c), letter in zip(walls, cfg['traps']):
+        maze.grid[r][c] = letter
+
+    maze.check(arches)
+    return maze
+
+
+def load_level(name):
+    path = os.path.join(LEVELS_DIR, name + '.txt')
+    if not os.path.isfile(path):
+        raise ValueError(f"Unknown maze '{name}'. Available: {', '.join(available_levels())}, random.")
+    with open(path) as f:
+        maze = Maze.parse(f.read())
+    maze.check(ARCHES)
+    return maze
+
+
+def layout(maze):
+    """Geometry of a maze centered at the origin."""
+    arches = ARCHES
+    t = WALL_THICKNESS
+
+    def x(c):
+        return round((c / 2 - maze.cols / 2) * CELL, 4)
+
+    def y(r):
+        return round((maze.rows / 2 - r / 2) * CELL, 4)
+
+    def solid(r, c):
+        return maze.grid[r][c] == '#'
+
+    walls, covered = [], set()
+    # Horizontal wall runs along even lines and vertical ones along even columns, each from corner to corner.
+    for r in range(0, 2 * maze.rows + 1, 2):
+        c = 1
+        while c < 2 * maze.cols:
+            if solid(r, c):
+                end = c
+                while end + 2 < 2 * maze.cols and solid(r, end + 2):
+                    end += 2
+                walls.append([round((x(c - 1) + x(end + 1)) / 2, 4), y(r), round(x(end + 1) - x(c - 1) + t, 4), t])
+                covered.update((r, cc) for cc in range(c - 1, end + 2, 2))
+                c = end + 2
+            else:
+                c += 2
+    # Vertical runs stop at corners already covered by horizontal runs, so walls do not overlap.
+    horizontal = set(covered)
+    for c in range(0, 2 * maze.cols + 1, 2):
+        r = 1
+        while r < 2 * maze.rows:
+            if solid(r, c):
+                end = r
+                while end + 2 < 2 * maze.rows and solid(end + 2, c):
+                    end += 2
+                top = y(r - 1) + (-t / 2 if (r - 1, c) in horizontal else t / 2)
+                bottom = y(end + 1) - (-t / 2 if (end + 1, c) in horizontal else t / 2)
+                walls.append([x(c), round((top + bottom) / 2, 4), t, round(top - bottom, 4)])
+                covered.update((rr, c) for rr in range(r - 1, end + 2, 2))
+                r = end + 2
+            else:
+                r += 2
+
+    # Arches, and posts at corners next to arches that no wall run covers.
+    openings = []
+    for r, c in maze.wall_positions(interior=False):
+        ch = maze.grid[r][c]
+        if ch not in arches:
+            continue
+        arch = arches[ch]
+        openings.append(dict(type=arch['name'], x=x(c), y=y(r), yaw=0.0 if r % 2 == 0 else round(math.pi / 2, 4),
+                             width=arch['width'], height=arch['height'] or 0.0))
+        corners = [(r, c - 1), (r, c + 1)] if r % 2 == 0 else [(r - 1, c), (r + 1, c)]
+        for corner in corners:
+            if corner not in covered:
+                covered.add(corner)
+                walls.append([x(corner[1]), y(corner[0]), t, t])
+
+    # Start points outside the entrance and exit, facing into the maze.
+    starts = {}
+    for name, char in (('a', 'S'), ('b', 'E')):
+        r, c = maze.find(char)
+        nx = -1 if c == 0 else 1 if c == 2 * maze.cols else 0
+        ny = 1 if r == 0 else -1 if r == 2 * maze.rows else 0
+        starts[name] = [round(x(c) + nx * START_DISTANCE, 4), round(y(r) + ny * START_DISTANCE, 4),
+                        round(math.atan2(-ny, -nx), 4)]
+
+    # Shortest route through passable openings, from start point 'a' through the cell centers to start point 'b'.
+    start_cell, end_cell = maze.inner_cell(maze.find('S')), maze.inner_cell(maze.find('E'))
+    _, parent = maze.distances(start_cell, arches)
+    cells = [end_cell]
+    while parent[cells[-1]]:
+        cells.append(parent[cells[-1]][1])
+    points = [starts['a'][:2]] + [[x(c), y(r)] for r, c in reversed(cells)] + [starts['b'][:2]]
+    corners = [points[0]]
+    for point, following in zip(points[1:-1], points[2:]):
+        previous = corners[-1]
+        if abs((point[0] - previous[0]) * (following[1] - point[1]) - (point[1] - previous[1]) * (following[0] - point[0])) > 1e-9:
+            corners.append(point)
+    corners.append(points[-1])
+
+    def turn(a, b, c):
+        return 'left' if (b[0] - a[0]) * (c[1] - b[1]) - (b[1] - a[1]) * (c[0] - b[0]) > 0 else 'right'
+
+    route = []
+    for i in range(len(corners) - 1):
+        start = turn(corners[i - 1], corners[i], corners[i + 1]) if i > 0 else 'flat'
+        end = turn(corners[i], corners[i + 1], corners[i + 2]) if i + 2 < len(corners) else 'flat'
+        route.append(corners[i] + corners[i + 1] + [start, end])
+
+    size = [round(maze.cols * CELL, 4), round(maze.rows * CELL, 4)]
+    return dict(
+        cell=CELL, wall_thickness=t, wall_height=WALL_HEIGHT, span=round(CELL - t, 4),
+        size=size, warehouse=[size[0] + 2 * MARGIN, size[1] + 2 * MARGIN],
+        walls=walls, arches=openings, starts=starts, route=route, grid=maze.text().splitlines())
+
+
+def scatter_objects(lay, args):
+    """Scatter objects around the maze, off it and the ways from the start points to it."""
+    sx, sy = lay['size'][0] / 2 + WALL_THICKNESS, lay['size'][1] / 2 + WALL_THICKNESS
+    wx, wy = lay['warehouse'][0] / 2, lay['warehouse'][1] / 2
+    keep_out = [('rect', -sx - MAZE_MARGIN, sx + MAZE_MARGIN, -sy - MAZE_MARGIN, sy + MAZE_MARGIN)]
+    for x, y, yaw in lay['starts'].values():
+        keep_out.append(('circle', x, y, START_RADIUS))
+        keep_out.append(('segment', x, y, x + START_DISTANCE * math.cos(yaw), y + START_DISTANCE * math.sin(yaw), START_RADIUS))
+    return scatter.scatter_from_args(args, (-wx, wx, -wy, wy), keep_out, [('rect', -sx, sx, -sy, sy)], 'maze')
+
+
+def make_maze(name, seed, difficulty):
+    if name == 'random':
+        return generate(int(seed), difficulty)
+    return load_level(name)
+
+
+def arch(parent, name, x, y, yaw, span, width, height, wall_height, thickness, view, material):
+    """Posts leave a 'width' opening in a 'span' long wall, a lintel above 'height' (0: none) closes it."""
+    look = dict(color=ARCH_COLOR) if material == 'contrast' else dict(wall_material=material)
+    link = sdf.static_model(parent, name, (x, y, 0, 0, 0, yaw))
+    post = (span - width) / 2
+    if post > 0:
+        for side, sign in (('left', -1), ('right', 1)):
+            sdf.solid_box(link, f'post_{side}', sign * (width + post) / 2, 0, wall_height / 2, post, thickness,
+                          wall_height, view=view, **look)
+    if height > 0:
+        sdf.solid_box(link, 'lintel', 0, 0, (height + wall_height) / 2, width, thickness, wall_height - height,
+                      view=view, footprint_scale=0.3, **look)
+
+
+def build(args):
+    lay = layout(make_maze(args['maze'], args['seed'], args['difficulty']))
+    view = args['wall_view']
+    root, world = sdf.world('maze')
+    sdf.floor(world, args['floor'], *lay['warehouse'])
+    sdf.perimeter_walls(world, *lay['warehouse'], args['wall_material'])
+    link = sdf.static_model(world, 'maze_walls')
+    for i, (x, y, sx, sy) in enumerate(lay['walls']):
+        sdf.wall(link, f'wall_{i}', x, y, 0 if sx >= sy else math.pi / 2, max(sx, sy), lay['wall_height'],
+                 min(sx, sy), args['wall_material'], view)
+    for i, a in enumerate(lay['arches']):
+        arch(world, f"{a['type']}_{i}", a['x'], a['y'], a['yaw'], lay['span'], a['width'], a['height'],
+             lay['wall_height'], lay['wall_thickness'], view, args['arch_material'])
+    if args['route']:
+        link = sdf.static_model(world, 'maze_route', (0, 0, 0.002, 0, 0, 0))    # above wall footprints
+        for i, (x1, y1, x2, y2, start, end) in enumerate(lay['route']):
+            sdf.marking_line(link, f'route_{i}', x1, y1, x2, y2, 'blue', width=0.03, start=start, end=end,
+                             visibility=sdf.VISIBLE_GUI_ONLY)
+    for i, (kind, x, y, yaw) in enumerate(scatter_objects(lay, args)):
+        sdf.scatter_object(world, f'{kind}_{i}', kind, x, y, yaw)
+    for name, (x, y, yaw) in lay['starts'].items():
+        sdf.start_point(world, name, x, y, yaw)
+    return root
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Print a maze.')
+    parser.add_argument('--maze', default='level1', help=f"fixed level ({', '.join(available_levels())}) or 'random'")
+    parser.add_argument('--seed', type=int, default=0)
+    parser.add_argument('--difficulty', default='medium', choices=list(DIFFICULTIES))
+    args = parser.parse_args()
+    print(make_maze(args.maze, args.seed, args.difficulty).text())
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/platform/kpi_rover_worlds/worlds/maze/maze.yaml b/src/platform/kpi_rover_worlds/worlds/maze/maze.yaml
new file mode 100644
index 0000000..5479025
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/maze/maze.yaml
@@ -0,0 +1,95 @@
+title: Maze
+description: >-
+  A warehouse with a maze: walls, passages and arches, some of them barely
+  let the robot through and some are impassable (too narrow or too low — the
+  lidar sees a passage, but the robot hits it with its top). Ready levels or a
+  random maze.
+start_points:
+  a: Maze entrance
+  b: Maze exit
+groups:
+  maze: Maze
+  look: Look
+  objects: Objects
+args:
+  maze:
+    type: choice
+    choices: [level1, level2, level3, random]
+    default: level1
+    label: Maze
+    description: A ready level (levels/) or random — a random maze.
+    group: maze
+  seed: {type: int, min: 0, default: 0, label: Random maze variant, group: maze, show_if: {maze: random}}
+  difficulty:
+    type: choice
+    choices: [easy, medium, hard]
+    default: medium
+    label: Random maze difficulty
+    description: The size of the random maze and how many tight and impassable arches it has.
+    group: maze
+    show_if: {maze: random}
+  route: {type: bool, default: true, label: Show route, description: "A blue line of the shortest path, visible only in the Gazebo GUI.", group: maze}
+  floor: {type: choice, choices_from: floors, default: concrete, label: Floor, group: look}
+  wall_material: {type: choice, choices_from: walls, default: brick, label: Walls, group: look}
+  arch_material:
+    type: choice
+    choices: [contrast, plain, plaster, brick, concrete, wood, metal]
+    default: contrast
+    label: Arches and narrow openings
+    description: contrast — a plain color that stands out from the walls; or a wall material.
+    group: look
+  wall_view:
+    type: choice
+    choices: [solid, transparent, hidden, marking]
+    default: transparent
+    label: Walls in the Gazebo GUI
+    description: How the GUI shows the walls; the robot always bumps into them and the sensors see them.
+    group: look
+  objects:
+    type: int
+    min: 0
+    max: 50
+    default: 14
+    label: Objects
+    description: Number of boxes, crates, cones and other objects scattered around the maze; some are low, under the lidar, and a flat board can be driven over.
+    group: objects
+  objects_seed: {type: string, default: '', label: Layout variant, description: Empty — a new random one every time., group: objects}
+presets:
+  random_easy:
+    label: Random, easy
+    description: A new small random maze.
+    args: {maze: random, difficulty: easy}
+  random_hard:
+    label: Random, hard
+    description: A big random maze with many tight and impassable arches.
+    args: {maze: random, difficulty: hard}
+  level3:
+    label: Level 3
+    description: The biggest ready level.
+    args: {maze: level3}
+  empty:
+    label: No objects
+    description: Only the walls.
+    args: {objects: 0}
+previews:
+  cameras:
+    top: [0, 0, 17, 0, 90, 90, 42]
+    top_gui: [0, 0, 17, 0, 90, 90, 42]
+    over: [-5.2, -5.0, 3.6, 0, 35, 45, 66]
+    over_gui: [-5.2, -5.0, 3.6, 0, 35, 45, 66]
+    arches: [0.7, 0.4, 1.4, 0, 38, 90, 70]
+  gui_cameras: [top_gui, over_gui]
+  world: over
+  presets: true
+  start_points: true
+  map: {fit: ground_plane, margin: 0.3}
+  args:
+    maze: {camera: top, values: [level1, level2, level3, random]}
+    seed: {camera: top, values: [0, 1, 2], with: {maze: random}}
+    difficulty: {camera: top, values: [easy, medium, hard], with: {maze: random}}
+    route: {camera: top_gui, values: [true, false]}
+    floor: {camera: over, values: [plain, concrete, painted_concrete, asphalt, carpet, wood, tiles]}
+    wall_material: {camera: over, values: [plain, plaster, brick, concrete, wood, metal]}
+    arch_material: {camera: arches, values: [contrast, plain, plaster, brick, concrete, wood, metal], with: {maze: level3}}
+    wall_view: {camera: over_gui, values: [solid, transparent, hidden, marking]}
+    objects: {camera: over, values: [0, 14, 45], with: {objects_seed: 1}}
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diff --git a/src/platform/kpi_rover_worlds/worlds/overpass/overpass.py b/src/platform/kpi_rover_worlds/worlds/overpass/overpass.py
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--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/overpass/overpass.py
@@ -0,0 +1,201 @@
+"""
+Warehouse with a figure-eight marking and an overpass at its crossing.
+
+The figure eight is two loops of radius r centered at (+-d, 0) and two
+diagonals tangent to both, crossing at the origin at angles +-alpha. The
++alpha diagonal goes over the overpass, so two robots can drive the figure
+eight at once without meeting. Start points a and b are at the outer points
+of the loops, half a lap apart.
+"""
+
+import hashlib
+import math
+import os
+
+from kpi_rover_worlds import scatter, sdf, textured_box
+
+# Geometry, m: the warehouse inside, the figure eight (loop radius, distance
+# from the crossing to the loop tangent points) and the overpass: the deck
+# height leaves room under its bottom (5 cm lower) for the 0.345 m high robot;
+# max_slope is the steepest ramp slope, degrees.
+PARAMS = dict(size_x=15, size_y=8, marking_width=0.05, loop_radius=2.0, tangent_distance=4.5,
+              height=0.45, deck_length=1.4, max_slope=12, rail_width=0.04,
+              overpass_types={'wide': {'width': 0.7, 'rails': True}, 'narrow': {'width': 0.4, 'rails': False}})
+
+# Free space kept on each side of the lane and around the overpass and start points, m.
+LANE_MARGIN = 0.35
+START_RADIUS = 0.6
+# Road band: height above the floor (under the marking lines, 1 mm thick) and arc segment length, m.
+ROAD_HEIGHT = 0.0005
+ROAD_STEP = 0.1
+RAIL_COLOR = (1.0, 0.8, 0.0)
+RAIL_HEIGHT = 0.1
+RAIL_PIECES = 16
+DECK_THICKNESS = 0.05
+
+
+def geometry(p):
+    """
+    Loop radius r, distance lt from the center to the tangent points, loop center distance d, angle alpha
+    of the diagonals, and distance 'foot' from the center to the ends of the overpass ramps.
+    """
+    r, lt = p['loop_radius'], p['tangent_distance']
+    foot = p['deck_length'] / 2 + p['height'] * math.pi / (2 * math.tan(math.radians(p['max_slope'])))
+    return r, lt, math.hypot(lt, r), math.atan2(r, lt), foot
+
+
+def figure_eight(p):
+    """The figure eight on the floor: ('arc', cx, cy, r, a1, a2) and ('segment', x1, y1, x2, y2) pieces."""
+    r, lt, d, alpha, foot = geometry(p)
+    ca, sa = math.cos(alpha), math.sin(alpha)
+    return [('arc', d, 0, r, -(math.pi / 2 + alpha), math.pi / 2 + alpha),
+            ('arc', -d, 0, r, math.pi / 2 - alpha, 3 * math.pi / 2 + alpha),
+            ('segment', -lt * ca, lt * sa, lt * ca, -lt * sa),
+            ('segment', -lt * ca, -lt * sa, -foot * ca, -foot * sa),
+            ('segment', foot * ca, foot * sa, lt * ca, lt * sa)]
+
+
+def road_mesh(p, width, tile):
+    """
+    OBJ path of the road band along the figure eight on the floor, 'width'
+    wide, with texture coordinates in units of 'tile' m; cached by its shape.
+    """
+    name = 'road_' + hashlib.sha1(repr((sorted(p.items(), key=str), width, tile)).encode()).hexdigest()[:12] + '.obj'
+    path = os.path.join(textured_box.CACHE_DIR, name)
+    if os.path.isfile(path):
+        return path
+    lines, faces, n = ['# Overpass road band, generated by overpass.py'], [], 0
+    for piece in figure_eight(p):
+        if piece[0] == 'arc':
+            _, cx, cy, r, a1, a2 = piece
+            k = max(2, int(abs(a2 - a1) * r / ROAD_STEP) + 1)
+            points = [(cx + r * math.cos(a1 + (a2 - a1) * i / (k - 1)), cy + r * math.sin(a1 + (a2 - a1) * i / (k - 1)))
+                      for i in range(k)]
+        else:
+            _, x1, y1, x2, y2 = piece
+            points = [(x1, y1), (x2, y2)]
+        along = 0.0
+        for i, (x, y) in enumerate(points):
+            ax, ay = points[min(i + 1, len(points) - 1)]
+            bx, by = points[max(i - 1, 0)]
+            dx, dy = ax - bx, ay - by
+            length = math.hypot(dx, dy)
+            nx, ny = -dy / length * width / 2, dx / length * width / 2
+            if i:
+                along += math.hypot(x - points[i - 1][0], y - points[i - 1][1])
+            for side in (-1, 1):
+                lines.append(f'v {x + side * nx:.4f} {y + side * ny:.4f} {ROAD_HEIGHT}')
+                lines.append(f'vt {along / tile:.4f} {(side + 1) / 2 * width / tile:.4f}')
+            if i:
+                # 1-based vertices: right and left of the previous point, right and left of this one; counterclockwise from above.
+                a, b, c, e = n + 2 * i - 1, n + 2 * i, n + 2 * i + 1, n + 2 * i + 2
+                faces.append(f'f {a}/{a}/1 {c}/{c}/1 {e}/{e}/1 {b}/{b}/1')
+        n += 2 * len(points)
+    lines.append('vn 0 0 1')
+    os.makedirs(textured_box.CACHE_DIR, exist_ok=True)
+    tmp = path + f'.{os.getpid()}.tmp'    # several launches may write the same mesh at once
+    with open(tmp, 'w') as f:
+        f.write('\n'.join(lines + faces) + '\n')
+    os.replace(tmp, path)
+    return path
+
+
+def shapes(overpass_type, objects_on_route=False):
+    """Scatter area, keep-out shapes and obstacles; with objects_on_route the figure eight is not kept free."""
+    p = PARAMS
+    cfg = p['overpass_types'][overpass_type]
+    r, lt, d, alpha, foot = geometry(p)
+    ca, sa = math.cos(alpha), math.sin(alpha)
+    lane = max(cfg['width'], 0.5) / 2 + LANE_MARGIN
+    overpass = ('segment', -foot * ca, -foot * sa, foot * ca, foot * sa, cfg['width'] / 2)
+
+    # The loops, the lower diagonal and the whole upper one.
+    route = [piece + (lane,) for piece in figure_eight(p)[:3]]
+    route.append(('segment', -lt * ca, -lt * sa, lt * ca, lt * sa, lane))
+    # On the route, objects are obstacles; the overpass diagonal (its ramps) and the start points stay free anyway.
+    keep_out = [route[3]] if objects_on_route else route
+    keep_out += [('circle', d + r, 0, START_RADIUS), ('circle', -(d + r), 0, START_RADIUS)]
+    area = (-p['size_x'] / 2, p['size_x'] / 2, -p['size_y'] / 2, p['size_y'] / 2)
+    return area, keep_out, [overpass]
+
+
+def overpass(parent, p, kind, yaw, offsets, style, surface):
+    """A deck with a smooth ramp at each end, rails if kind['rails'], marking lines at 'offsets' from its axis."""
+    height, deck, width, rail_width = p['height'], p['deck_length'], kind['width'], p['rail_width']
+    ramp = height * math.pi / (2 * math.tan(math.radians(p['max_slope'])))
+    half, rail_y = deck / 2, (width - rail_width) / 2
+    cfg = sdf.FLOORS[surface]
+    mesh = f"{sdf.MESHES_DIR}/overpass_w{width:g}_h{height:g}_d{deck:g}_t{DECK_THICKNESS:g}_s{p['max_slope']:g}.obj"
+    link = sdf.static_model(parent, 'overpass', (0, 0, 0, 0, 0, yaw))
+    collision = sdf.el(link, 'collision', name='body_collision')
+    sdf.el(sdf.el(sdf.el(collision, 'geometry'), 'mesh'), 'uri', f'file://{mesh}')
+    sdf.friction(collision, cfg['mu'])
+    sdf.material(sdf.mesh_visual(link, 'body_visual', mesh), cfg['color'], cfg['texture'])
+
+    def pieces(n):
+        """(ramp, k, xa, za, xb, zb) of the n pieces of each ramp profile, from the ground to the deck."""
+        for name, direction in (('ramp_in', -1), ('ramp_out', 1)):
+            for k in range(n):
+                yield (name, k, direction * (half + ramp - ramp * k / n), height * (1 - math.cos(math.pi * k / n)) / 2,
+                       direction * (half + ramp - ramp * (k + 1) / n),
+                       height * (1 - math.cos(math.pi * (k + 1) / n)) / 2)
+
+    sides = (('left', rail_y), ('right', -rail_y))
+    if kind['rails']:
+        for side, y in sides:
+            sdf.solid_box(link, f'deck_rail_{side}', 0, y, height + RAIL_HEIGHT / 2, deck, rail_width, RAIL_HEIGHT,
+                          color=RAIL_COLOR)
+        for name, k, xa, za, xb, zb in pieces(RAIL_PIECES):
+            for side, y in sides:
+                # Lengthened by half their height, so there are no gaps where the slope changes.
+                sdf.solid_box(link, f'{name}_rail_{side}_{k}', (xa + xb) / 2, y, (za + zb) / 2 + RAIL_HEIGHT / 2,
+                              math.hypot(xb - xa, zb - za) + RAIL_HEIGHT / 2, rail_width, RAIL_HEIGHT,
+                              color=RAIL_COLOR, pitch=-math.atan2(zb - za, xb - xa))
+    for i, offset in enumerate(offsets):
+        sdf.marking_line(link, f'deck_marking_{i}', -half, offset, half, offset, style, height, height,
+                         p['marking_width'])
+    # Pieces about 1 width long, so the marking stays on the curved ramp.
+    for name, k, xa, za, xb, zb in pieces(round(ramp / p['marking_width'])):
+        for i, offset in enumerate(offsets):
+            sdf.marking_line(link, f'{name}_marking_{k}_{i}', xa, offset, xb, offset, style, za, zb,
+                             p['marking_width'], fine=True)
+
+
+def build(args):
+    p = PARAMS
+    r, lt, d, alpha, foot = geometry(p)
+    kind = p['overpass_types'][args['overpass']]
+    width = p['marking_width']
+    driveway = kind['width'] - (2 * p['rail_width'] if kind['rails'] else 0)
+    # Lane edge lines lie inside the overpass driveway.
+    offsets = [0] if args['lane'] == 'center' else [-(driveway - width) / 2, (driveway - width) / 2]
+
+    root, world = sdf.world('overpass')
+    sdf.floor(world, args['floor'], p['size_x'], p['size_y'])
+    sdf.perimeter_walls(world, p['size_x'], p['size_y'], args['wall_material'])
+    overpass(world, p, kind, alpha, offsets, args['marking'], args['overpass_surface'])
+    if args['road'] != 'none':
+        cfg = sdf.FLOORS[args['road']]
+        link = sdf.static_model(world, 'figure_eight_road')
+        sdf.material(sdf.mesh_visual(link, 'road', road_mesh(p, kind['width'], cfg['tile'])), cfg['color'],
+                     cfg['texture'])
+    link = sdf.static_model(world, 'figure_eight_marking')
+    names = ('loop_right', 'loop_left', 'diagonal_lower', 'diagonal_upper_in', 'diagonal_upper_out')
+    for name, (shape, *piece) in zip(names, figure_eight(p)):
+        for i, offset in enumerate(offsets):
+            if shape == 'arc':
+                cx, cy, radius, a1, a2 = piece
+                sdf.marking_arc(link, f'{name}_{i}', cx, cy, radius - offset, a1, a2, args['marking'], width)
+            else:
+                x1, y1, x2, y2 = piece
+                length = math.hypot(x2 - x1, y2 - y1)
+                nx, ny = -(y2 - y1) / length * offset, (x2 - x1) / length * offset
+                sdf.marking_line(link, f'{name}_{i}', x1 + nx, y1 + ny, x2 + nx, y2 + ny, args['marking'],
+                                 width=width)
+    area, keep_out, obstacles = shapes(args['overpass'], args['objects_on_route'])
+    for i, (kind_name, x, y, yaw) in enumerate(scatter.scatter_from_args(args, area, keep_out, obstacles, 'overpass')):
+        sdf.scatter_object(world, f'{kind_name}_{i}', kind_name, x, y, yaw)
+    # The right loop is driven counterclockwise and the left one clockwise, both heading +Y at the outer points.
+    sdf.start_point(world, 'a', d + r, 0, math.pi / 2)
+    sdf.start_point(world, 'b', -(d + r), 0, math.pi / 2)
+    return root
diff --git a/src/platform/kpi_rover_worlds/worlds/overpass/overpass.yaml b/src/platform/kpi_rover_worlds/worlds/overpass/overpass.yaml
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index 0000000..8e36057
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/overpass/overpass.yaml
@@ -0,0 +1,100 @@
+title: Overpass
+description: >-
+  A warehouse with a figure-eight marking and an overpass at the crossing: two
+  robots can drive the figure eight at the same time without meeting at the
+  intersection. Scattered objects around it.
+start_points:
+  a: Right loop
+  b: Left loop
+groups:
+  look: Look
+  route: Route
+  objects: Objects
+args:
+  floor: {type: choice, choices_from: floors, default: concrete, label: Floor, group: look}
+  marking: {type: choice, choices_from: markings, default: yellow_black, label: Route lines, description: Color and style of the figure-eight lines and the overpass marking., group: look}
+  wall_material: {type: choice, choices_from: walls, default: concrete, label: Warehouse walls, group: look}
+  lane:
+    type: choice
+    choices: [center, edges]
+    default: center
+    label: Lane marking
+    description: center — a line along the middle of the route; edges — lines along the lane edges, as wide as the overpass deck.
+    group: route
+  overpass:
+    type: choice
+    choices: [wide, narrow]
+    default: wide
+    label: Overpass
+    description: wide — 0.7 m with railings; narrow — 0.4 m for one robot, without railings.
+    group: route
+  road:
+    type: choice
+    choices: [none, plain, concrete, painted_concrete, asphalt, carpet, wood, tiles]
+    default: none
+    label: Road surface
+    description: none — only the lines on the floor; or a road band of this surface along the figure eight.
+    group: route
+  overpass_surface: {type: choice, choices_from: floors, default: asphalt, label: Overpass surface, group: route}
+  objects:
+    type: int
+    min: 0
+    max: 50
+    default: 14
+    label: Objects
+    description: Number of boxes, crates, cones and other objects scattered around; some are low, under the lidar, and a flat board can be driven over.
+    group: objects
+  objects_on_route:
+    type: bool
+    default: false
+    label: Objects on the route
+    description: Also put objects on the figure eight, as obstacles to drive around; the overpass stays free.
+    group: objects
+  objects_seed:
+    type: string
+    default: ''
+    label: Layout variant
+    description: A number selects the layout of the objects; empty — a new random one every time.
+    group: objects
+presets:
+  empty:
+    label: No objects
+    description: Only the figure eight and the overpass.
+    args: {objects: 0}
+  narrow:
+    label: Narrow overpass
+    description: The overpass for one robot, without railings.
+    args: {overpass: narrow}
+  lane_edges:
+    label: Lane edges
+    description: Lines along the lane edges instead of the middle.
+    args: {lane: edges}
+  obstacle_course:
+    label: Obstacle course
+    description: An asphalt road with objects on it to drive around.
+    args: {road: asphalt, objects_on_route: true, objects: 25}
+  crowded:
+    label: Crowded
+    description: Many objects around the route.
+    args: {objects: 45}
+previews:
+  cameras:
+    over: [-8.5, -6.5, 4.5, 0, 32, 38, 70]
+    high: [0, -7.5, 6.5, 0, 50, 90, 80]
+    bridge: [-2.2, -2.4, 1.0, 0, 18, 48, 62]
+    floor: [-3.5, -3.2, 1.6, 0, 30, 40, 60]
+    loop: [4.4, -2.6, 1.3, 0, 28, 45, 62]
+  world: over
+  presets: true
+  start_points: true
+  map: {center: [0, 0], size: 16}
+  args:
+    floor: {camera: floor, values: [plain, concrete, painted_concrete, asphalt, carpet, wood, tiles]}
+    marking: {camera: floor, values: [white, yellow, red, blue, green, yellow_black, red_white, black_white]}
+    wall_material: {camera: over, values: [plain, plaster, brick, concrete, wood, metal]}
+    lane: {camera: loop, values: [center, edges]}
+    overpass: {camera: bridge, values: [wide, narrow]}
+    overpass_surface: {camera: bridge, values: [plain, concrete, painted_concrete, asphalt, carpet, wood, tiles]}
+    road: {camera: over, values: [none, plain, concrete, painted_concrete, asphalt, carpet, wood, tiles]}
+    objects_on_route: {camera: over, values: [false, true], with: {objects_seed: 1, objects: 30}}
+    objects: {camera: over, values: [0, 14, 45], with: {objects_seed: 1}}
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diff --git a/src/platform/kpi_rover_bringup/worlds/room.world b/src/platform/kpi_rover_worlds/worlds/room/room.world
similarity index 100%
rename from src/platform/kpi_rover_bringup/worlds/room.world
rename to src/platform/kpi_rover_worlds/worlds/room/room.world
diff --git a/src/platform/kpi_rover_worlds/worlds/room/room.yaml b/src/platform/kpi_rover_worlds/worlds/room/room.yaml
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--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/room/room.yaml
@@ -0,0 +1,7 @@
+title: Room
+description: A 6×6 m room with three boxes; the default world of sim.launch.py.
+previews:
+  cameras:
+    over: [0, -5.6, 4.2, 0, 42, 90, 70]
+  world: over
+  map: {center: [0, 0], size: 7}
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diff --git a/src/platform/kpi_rover_worlds/worlds/test_square/previews/start_a.jpg b/src/platform/kpi_rover_worlds/worlds/test_square/previews/start_a.jpg
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diff --git a/src/platform/kpi_rover_worlds/worlds/test_square/previews/world.jpg b/src/platform/kpi_rover_worlds/worlds/test_square/previews/world.jpg
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diff --git a/src/platform/kpi_rover_worlds/worlds/test_square/test_square.py b/src/platform/kpi_rover_worlds/worlds/test_square/test_square.py
new file mode 100644
index 0000000..bdf6fdb
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/test_square/test_square.py
@@ -0,0 +1,15 @@
+"""1x1 m square marked on the floor, driven counterclockwise from start point a, to check motion accuracy."""
+
+from kpi_rover_worlds import sdf
+
+
+def build(args):
+    root, world = sdf.world('test_square')
+    sdf.floor(world, args['floor'], 10, 10)
+    link = sdf.static_model(world, 'square_marking')
+    corners = [(0, 0), (1, 0), (1, 1), (0, 1)]
+    for i, side in enumerate(('bottom', 'right', 'top', 'left')):
+        sdf.marking_line(link, f'edge_{side}', *corners[i], *corners[(i + 1) % 4], args['marking'],
+                         start='left', end='left')
+    sdf.start_point(world, 'a', 0, 0, 0)
+    return root
diff --git a/src/platform/kpi_rover_worlds/worlds/test_square/test_square.yaml b/src/platform/kpi_rover_worlds/worlds/test_square/test_square.yaml
new file mode 100644
index 0000000..4cc2a5c
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/test_square/test_square.yaml
@@ -0,0 +1,17 @@
+title: Test square
+description: A 1×1 m square marked on the floor to check motion and odometry accuracy.
+start_points:
+  a: Square corner
+args:
+  floor: {type: choice, choices_from: floors, default: wood, label: Floor}
+  marking: {type: choice, choices_from: markings, default: white, label: Marking}
+previews:
+  cameras:
+    over: [-1.1, -1.1, 1.2, 0, 32, 45, 62]
+  world: over
+  start_points: true
+  map: {center: [0.5, 0.5], size: 4}
+  layers:
+    camera: over
+    base: {arg: floor, values: [plain, concrete, painted_concrete, asphalt, carpet, wood, tiles], hide: [square_marking]}
+    overlay: {arg: marking, values: [white, yellow, red, blue, green, yellow_black, red_white, black_white], against: [plain, asphalt]}
diff --git a/src/platform/kpi_rover_worlds/worlds/warehouse/previews/world.jpg b/src/platform/kpi_rover_worlds/worlds/warehouse/previews/world.jpg
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diff --git a/src/platform/kpi_rover_bringup/worlds/warehouse.world b/src/platform/kpi_rover_worlds/worlds/warehouse/warehouse.world
similarity index 100%
rename from src/platform/kpi_rover_bringup/worlds/warehouse.world
rename to src/platform/kpi_rover_worlds/worlds/warehouse/warehouse.world
diff --git a/src/platform/kpi_rover_worlds/worlds/warehouse/warehouse.yaml b/src/platform/kpi_rover_worlds/worlds/warehouse/warehouse.yaml
new file mode 100644
index 0000000..0a4839c
--- /dev/null
+++ b/src/platform/kpi_rover_worlds/worlds/warehouse/warehouse.yaml
@@ -0,0 +1,7 @@
+title: Industrial warehouse
+description: A warehouse with shelves (Gazebo Fuel models).
+previews:
+  cameras:
+    over: [0, -10.2, 2.4, 0, 14, 90, 80]
+  world: over
+  map: {center: [0, 0], size: 22}