init

ambulance/meshes/ambulance.mtl

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+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 27.10.2016 19:35:26
+
+newmtl Ambulance
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka ambulance.png
+	map_Kd ambulance.png
+
+newmtl Firetruck_Wheels
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka model://suv/materials/textures/wheels_01.png
+	map_Kd model://suv/materials/textures/wheels_01.png

ambulance/model.config

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+<?xml version="1.0"?>
+
+<model>
+  <name>Ambulance</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <depend>
+    <model>
+      <uri>model://suv</uri>
+      <version>1.0</version>
+    </model>
+  </depend>
+
+  <description>
+    An ambulance.
+  </description>
+</model>

ambulance/model.sdf

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+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="ambulance">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <scale>0.0254 0.0254 0.0254</scale>
+            <uri>model://ambulance/meshes/ambulance.obj</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <scale>0.0254 0.0254 0.0254</scale>
+            <uri>model://ambulance/meshes/ambulance.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>