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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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96
drc_practice_base_4x8/meshes/4x8ftbase.dae Normal file
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<authoring_tool>SketchUp 8.0.15158</authoring_tool>
</contributor>
<created>2013-08-07T17:26:14Z</created>
<modified>2013-08-07T17:26:14Z</modified>
<unit meter="0.02539999969303608" name="inch" />
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes>
<visual_scene id="ID1">
<node name="SketchUp">
<node id="ID2" name="instance_0">
<matrix>1 0 0 -24.00000000000001 0 -4.163336342344337e-017 1 -48.24153070000002 0 -1 -4.163336342344337e-017 -0.4999999999999985 0 0 0 1</matrix>
<instance_node url="#ID3" />
</node>
</node>
</visual_scene>
</library_visual_scenes>
<library_nodes>
<node id="ID3" name="skp6045">
<node id="ID4" name="instance_1">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0.2415306999999984 0 0 0 1</matrix>
<instance_node url="#ID5" />
</node>
</node>
<node id="ID5" name="Component">
<instance_geometry url="#ID6">
<bind_material>
<technique_common>
<instance_material symbol="Material2" target="#ID7">
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</library_nodes>
<library_geometries>
<geometry id="ID6">
<mesh>
<source id="ID9">
<float_array id="ID12" count="144">0 0 96.00000000000004 0 -1 0 0 -1 96.00000000000004 0 0 0 0 0 0 0 0 96.00000000000004 0 -1 0 0 -1 96.00000000000004 48.00000000000002 -1 96.00000000000004 0 0 96.00000000000004 0 -1 96.00000000000004 48.00000000000002 0 96.00000000000004 48.00000000000002 0 96.00000000000004 48.00000000000002 -1 96.00000000000004 0 0 96.00000000000004 0 -1 96.00000000000004 0 0 96.00000000000004 48.00000000000002 0 0 0 0 0 48.00000000000002 0 96.00000000000004 48.00000000000002 0 96.00000000000004 0 0 96.00000000000004 48.00000000000002 0 0 0 0 0 48.00000000000002 0 0 0 -1 0 0 0 0 48.00000000000002 -1 0 48.00000000000002 -1 0 48.00000000000002 0 0 0 -1 0 0 0 0 48.00000000000002 -1 96.00000000000004 0 -1 0 48.00000000000002 -1 0 0 -1 96.00000000000004 0 -1 96.00000000000004 48.00000000000002 -1 96.00000000000004 0 -1 0 48.00000000000002 -1 0 48.00000000000002 0 0 48.00000000000002 -1 96.00000000000004 48.00000000000002 -1 0 48.00000000000002 0 96.00000000000004 48.00000000000002 0 96.00000000000004 48.00000000000002 0 0 48.00000000000002 -1 96.00000000000004 48.00000000000002 -1 0</float_array>
<technique_common>
<accessor count="48" source="#ID12" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<source id="ID10">
<float_array id="ID13" count="144">-1 0 0 -1 0 0 -1 0 0 -1 0 0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -1 0 0 -1 0 0 -1 0 0 -1 0 0</float_array>
<technique_common>
<accessor count="48" source="#ID13" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<vertices id="ID11">
<input semantic="POSITION" source="#ID9" />
<input semantic="NORMAL" source="#ID10" />
</vertices>
<triangles count="24" material="Material2">
<input offset="0" semantic="VERTEX" source="#ID11" />
<p>0 1 2 1 0 3 4 5 6 7 6 5 8 9 10 9 8 11 12 13 14 15 14 13 16 17 18 17 16 19 20 21 22 23 22 21 24 25 26 25 24 27 28 29 30 31 30 29 32 33 34 33 32 35 36 37 38 39 38 37 40 41 42 41 40 43 44 45 46 47 46 45</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_materials>
<material id="ID7" name="__auto_">
<instance_effect url="#ID8" />
</material>
</library_materials>
<library_effects>
<effect id="ID8">
<profile_COMMON>
<technique sid="COMMON">
<lambert>
<diffuse>
<color>0.5529411764705883 0.5529411764705883 0.5529411764705883 1</color>
</diffuse>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<scene>
<instance_visual_scene url="#ID1" />
</scene>
</COLLADA>

32
drc_practice_base_4x8/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="drc_practice_base">
<static>true</static>
<pose>0 0 0.0127 0 0 0</pose>
<link name="platform">
<collision name="collision">
<geometry>
<box>
<size>1.2192 2.4384 0.0254</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_base_4x8/meshes/4x8ftbase.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

14
drc_practice_base_4x8/model.config Normal file
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<?xml version='1.0'?>
<model>
<name>DRC Practice: Door debris base</name>
<version>0.1.0</version>
<sdf version='1.4'>model-1_4.sdf</sdf>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Christina Gomez</name>
<email>@swri.org</email>
</author>
<description>
This model approximates a the DRC Trials base platform for door debris.
</description>
</model>

31
drc_practice_base_4x8/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="drc_practice_base">
<static>true</static>
<pose>0 0 0.0127 0 0 0</pose>
<link name="platform">
<collision name="collision">
<geometry>
<box>
<size>1.2192 2.4384 0.0254</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_base_4x8/meshes/4x8ftbase.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>