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Quella777
2025-08-25 16:30:02 +08:00
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nist_maze_wall_120/materials/textures/plywood256x256.png Normal file
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nist_maze_wall_120/meshes/nist_maze_wall_120.dae Normal file
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<?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 r44069</authoring_tool>
</contributor>
<created>2012-02-13T20:50:43</created>
<modified>2012-02-13T20:50:43</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-effect">
<profile_COMMON>
<newparam sid="plywood256x256_jpg-surface">
<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-material" name="Material">
<instance_effect url="#Material-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Plane-mesh" name="Plane">
<mesh>
<source id="Plane-mesh-positions">
<float_array id="Plane-mesh-positions-array" count="36">1 1.016949 -0.008474528 1 -1.016949 -0.008474528 -1 -1.016949 -0.008474528 -0.9999997 1.016949 -0.008474528 -1 -1.016949 0.008474528 -0.9999997 1.016949 0.008474528 1 1.016949 0.008474528 1 -1.016949 0.008474528 -1.016949 1.016949 0 -1.016949 -1.016949 0 1.016949 1.016949 0 1.016949 -1.016949 0</float_array>
<technique_common>
<accessor source="#Plane-mesh-positions-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Plane-mesh-normals">
<float_array id="Plane-mesh-normals-array" count="60">0 -1 0 0 1 0 0 -1 0 0 1 0 0.447213 0 -0.8944275 0.447213 0 -0.8944275 0.447213 0 0.8944275 0.447213 0 0.8944275 -0.4472054 0 -0.8944313 -0.4472155 0 -0.8944263 -0.4472155 0 0.8944263 -0.4472054 0 0.8944313 0 0 1 0 0 1 0 -1 0 0 -1 0 2.38419e-7 1 0 2.38419e-7 1 0 0 0 -1 0 0 -1</float_array>
<technique_common>
<accessor source="#Plane-mesh-normals-array" count="20" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Plane-mesh-map-0">
<float_array id="Plane-mesh-map-0-array" count="120">1.019481 1.007946 1.010001 1.007975 1.014712 0.9984798 1.035826 2.126672 1.031115 2.136167 1.026345 2.126701 1.022913 2.126672 1.018202 2.136167 1.013433 2.126701 1.032394 1.007946 1.022913 1.007975 1.027624 0.9984798 1.01003 -0.1297265 2.147688 -0.1426966 2.147716 -0.1332157 1.01003 -0.1297265 1.010001 -0.1392072 2.147688 -0.1426966 0.9970297 -0.1426676 1.010001 0.9949905 1.00052 0.9950196 0.9970297 -0.1426676 1.00651 -0.1426966 1.010001 0.9949905 2.151148 0.98551 1.013489 0.9984799 1.01346 0.9889988 2.151148 0.98551 2.151176 0.9949907 1.013489 0.9984799 -0.1216961 -0.1392353 -0.1276865 0.9984812 -0.1311767 -0.1392061 -0.1216961 -0.1392353 -0.1182056 0.9984521 -0.1276865 0.9984812 -0.1216961 -0.1392353 1.00052 0.9950196 -0.1182056 0.9984521 -0.1216961 -0.1392353 0.9970297 -0.1426676 1.00052 0.9950196 1.022913 2.126672 1.010001 1.007975 1.019481 1.007946 1.022913 2.126672 1.013433 2.126701 1.010001 1.007975 1.022913 1.007975 1.032394 1.007946 1.035826 2.126672 1.035826 2.126672 1.026345 2.126701 1.022913 1.007975 1.01003 -0.1297265 2.151148 0.98551 1.01346 0.9889988 1.01003 -0.1297265 2.147716 -0.1332157 2.151148 0.98551</float_array>
<technique_common>
<accessor source="#Plane-mesh-map-0-array" count="60" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Plane-mesh-vertices">
<input semantic="POSITION" source="#Plane-mesh-positions"/>
</vertices>
<polylist material="Material1" count="20">
<input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Plane-mesh-map-0" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>2 0 0 4 0 1 9 0 2 3 1 3 8 1 4 5 1 5 1 2 6 11 2 7 7 2 8 0 3 9 6 3 10 10 3 11 0 4 12 11 4 13 1 4 14 0 5 15 10 5 16 11 5 17 7 6 18 10 6 19 6 6 20 7 7 21 11 7 22 10 7 23 2 8 24 8 8 25 3 8 26 2 9 27 9 9 28 8 9 29 4 10 30 8 10 31 9 10 32 4 11 33 5 11 34 8 11 35 4 12 36 6 12 37 5 12 38 4 13 39 7 13 40 6 13 41 1 14 42 4 14 43 2 14 44 1 15 45 7 15 46 4 15 47 6 16 48 0 16 49 3 16 50 3 17 51 5 17 52 6 17 53 0 18 54 2 18 55 3 18 56 0 19 57 1 19 58 2 19 59</p>
</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="Plane" type="NODE">
<translate sid="location">0 0.6 0.6</translate>
<rotate sid="rotationZ">0 0 1 1.27222e-14</rotate>
<rotate sid="rotationY">0 1 0 -1.27222e-14</rotate>
<rotate sid="rotationX">1 0 0 -90</rotate>
<scale sid="scale">0.59 0.59 0.59</scale>
<instance_geometry url="#Plane-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material1" target="#Material-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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nist_maze_wall_120/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="nist_maze_wall_120">
<static>true</static>
<link name="nist_maze_wall_120_link">
<pose>0 0 0.0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</gazebo>

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nist_maze_wall_120/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="nist_maze_wall_120">
<static>true</static>
<link name="nist_maze_wall_120_link">
<pose>0 0 0.0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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nist_maze_wall_120/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="nist_maze_wall_120">
<static>true</static>
<link name="nist_maze_wall_120_link">
<pose>0 0 0.0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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nist_maze_wall_120/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>NIST maze wall 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 maze wall
</description>
</model>

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nist_maze_wall_120/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="nist_maze_wall_120">
<static>true</static>
<link name="nist_maze_wall_120_link">
<pose>0 0 0.0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>