init

nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae

@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.61.4 r44005</authoring_tool>
+    </contributor>
+    <created>2012-02-12T11:41:54</created>
+    <modified>2012-02-12T11:41:54</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="plywood256x256_jpg" name="plywood256x256_jpg">
+      <init_from>../materials/textures/plywood256x256.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
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+          <surface type="2D">
+            <init_from>plywood256x256_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="plywood256x256_jpg-sampler">
+          <sampler2D>
+            <source>plywood256x256_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="plywood256x256_jpg-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Cube_001-mesh">
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+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

nist_elevated_floor_120/model-1_2.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<gazebo version="1.2">
+  <model name="nist_elevated_floor_120">
+    <static>true</static>
+    <link name="nist_elevated_floor_120">
+      <pose>0 0 0.0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</gazebo>

nist_elevated_floor_120/model-1_3.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+  <model name="nist_elevated_floor_120">
+    <static>true</static>
+    <link name="nist_elevated_floor_120">
+      <pose>0 0 0.0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>

nist_elevated_floor_120/model-1_4.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="nist_elevated_floor_120">
+    <static>true</static>
+    <link name="nist_elevated_floor_120">
+      <pose>0 0 0.0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>

nist_elevated_floor_120/model.config

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+
+<model> 
+  <name>NIST elevated floor 120</name>
+  <version>1.0</version>
+  <sdf version="1.2">model-1_2.sdf</sdf>
+  <sdf version="1.3">model-1_3.sdf</sdf>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Stefan Kohlbrecher</name>
+    <email>kohlbrecher@sim.tu-darmstadt.de</email>
+  </author>
+
+  <description>
+    1.2m high NIST standard test arena elevated floor
+  </description>
+
+</model>

nist_elevated_floor_120/model.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="nist_elevated_floor_120">
+    <static>true</static>
+    <link name="nist_elevated_floor_120">
+      <pose>0 0 0.0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>