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15
stop_light/materials/scripts/stop_light.material Normal file
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material StopLight/Light
{
technique
{
pass
{
ambient 0.5 0.5 0.5 1.000000
texture_unit
{
texture greyscale_light.png
}
}
}
}

BIN
stop_light/materials/textures/greyscale_light.png Normal file
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stop_light/materials/textures/stop_light.png Executable file
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stop_light/meshes/stop_light.mtl Executable file
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# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# File Created: 09.11.2016 17:25:49
newmtl StopLight
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 stop_light.png
map_Kd stop_light.png

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stop_light/meshes/stop_light.obj Executable file
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# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# File Created: 09.11.2016 17:25:49
mtllib stop_light.mtl
#
# object StopLight
#
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vt 0.1352 0.6117 0.0000
vt 0.1352 0.4453 0.0000
vt 0.9608 0.5338 0.0000
vt 0.9746 0.5258 0.0000
vt 0.6738 0.7078 0.0000
vt 0.6738 0.8706 0.0000
vt 0.0732 0.6332 0.0000
vt 0.0732 0.4453 0.0000
vt 0.9205 0.4848 0.0000
vt 0.9291 0.4715 0.0000
vt 0.7342 0.7078 0.0000
vt 0.7342 0.8927 0.0000
vt 0.0042 0.6332 0.0000
vt 0.0042 0.4453 0.0000
vt 0.8640 0.4658 0.0000
vt 0.8649 0.4502 0.0000
vt 0.7893 0.7078 0.0000
vt 0.7893 0.8957 0.0000
vt 0.4062 0.7070 0.0000
vt 0.4062 0.7249 0.0000
vt 0.3452 0.7289 0.0000
vt 0.3452 0.7070 0.0000
vt 0.9358 0.5647 0.0000
vt 0.9360 0.5808 0.0000
vt 0.8786 0.5977 0.0000
vt 0.8706 0.5832 0.0000
vt 0.7769 0.6713 0.0000
vt 0.7769 0.6931 0.0000
vt 0.7175 0.6931 0.0000
vt 0.7175 0.6654 0.0000
vt 0.2818 0.7502 0.0000
vt 0.2818 0.7070 0.0000
vt 0.8369 0.6448 0.0000
vt 0.8233 0.6358 0.0000
vt 0.6582 0.6931 0.0000
vt 0.6582 0.6450 0.0000
vt 0.2155 0.7993 0.0000
vt 0.2155 0.7070 0.0000
vt 0.8224 0.7168 0.0000
vt 0.8068 0.7170 0.0000
vt 0.5975 0.6931 0.0000
vt 0.5975 0.6009 0.0000
vt 0.1477 0.8734 0.0000
vt 0.1477 0.7070 0.0000
vt 0.8390 0.8062 0.0000
vt 0.8251 0.8142 0.0000
vt 0.5403 0.6931 0.0000
vt 0.5403 0.5303 0.0000
vt 0.0857 0.8949 0.0000
vt 0.0857 0.7070 0.0000
vt 0.8792 0.8552 0.0000
vt 0.8706 0.8685 0.0000
vt 0.4799 0.6931 0.0000
vt 0.4799 0.5082 0.0000
vt 0.0167 0.8949 0.0000
vt 0.0167 0.7070 0.0000
vt 0.9358 0.8742 0.0000
vt 0.9349 0.8898 0.0000
vt 0.4248 0.6931 0.0000
vt 0.4248 0.5053 0.0000
# 308 texture coords
g StopLight
usemtl StopLight
s off
f 1/2/1 2/3/1 3/4/1
f 3/4/1 4/1/1 1/2/1
f 5/12/2 6/13/2 7/14/2
f 7/14/2 8/11/2 5/12/2
f 3/6/3 5/7/3 8/8/3
f 8/8/3 4/5/3 3/6/3
f 1/9/4 4/5/4 8/8/4
f 8/8/5 7/10/5 1/9/5
f 1/9/6 7/10/6 9/17/6
f 9/17/6 10/19/6 1/9/6
f 6/13/2 11/15/2 9/16/2
f 9/16/2 7/14/2 6/13/2
f 10/19/7 9/17/7 12/25/7
f 12/25/7 13/26/7 10/19/7
f 11/15/2 14/18/2 12/20/2
f 12/20/2 9/16/2 11/15/2
f 13/26/8 12/25/8 14/28/8
f 14/28/8 15/27/8 13/26/8
f 2/3/1 1/2/1 10/21/1
f 10/21/1 16/22/1 2/3/1
f 16/22/1 10/21/1 13/23/1
f 13/23/1 15/24/1 16/22/1
s 1
f 17/33/9 18/36/10 19/29/11
f 19/29/11 20/32/1 17/33/9
s 2
f 20/30/12 21/31/13 22/34/14
f 22/34/14 17/35/15 20/30/12
s 1
f 23/41/16 22/44/17 21/37/18
f 21/37/18 24/40/19 23/41/16
f 18/36/10 17/33/9 25/45/20
f 25/45/20 26/48/21 18/36/10
s 2
f 17/35/15 22/34/14 27/38/22
f 27/38/22 25/39/23 17/35/15
s 1
f 22/44/17 23/41/16 28/49/24
f 28/49/24 27/52/25 22/44/17
f 26/48/21 25/45/20 29/53/26
f 29/53/26 30/56/27 26/48/21
s 2
f 25/39/23 27/38/22 31/42/28
f 31/42/28 29/43/29 25/39/23
s 1
f 27/52/25 28/49/24 32/57/30
f 32/57/30 31/58/31 27/52/25
f 30/56/27 29/53/26 33/59/32
f 33/59/32 34/60/33 30/56/27
s 2
f 29/43/29 31/42/28 35/46/34
f 35/46/34 33/47/35 29/43/29
s 1
f 31/58/31 32/57/30 36/61/36
f 36/61/36 35/62/37 31/58/31
f 34/60/33 33/59/32 37/63/38
f 37/63/38 38/64/39 34/60/33
s 2
f 33/47/35 35/46/34 39/50/40
f 39/50/40 37/51/41 33/47/35
s 1
f 35/62/37 36/61/36 40/65/42
f 40/65/42 39/66/43 35/62/37
f 38/64/39 37/63/38 41/67/19
f 41/67/19 42/68/44 38/64/39
s 2
f 37/51/41 39/50/40 43/54/45
f 43/54/45 41/55/3 37/51/41
s 1
f 39/66/43 40/65/42 44/69/1
f 44/69/1 43/70/1 39/66/43
f 45/75/9 46/78/10 47/71/11
f 47/71/11 48/74/1 45/75/9
s 2
f 48/72/12 49/73/13 50/76/14
f 50/76/14 45/77/15 48/72/12
s 1
f 51/83/16 50/86/17 49/79/18
f 49/79/18 52/82/18 51/83/16
f 46/78/10 45/75/9 53/87/20
f 53/87/20 54/90/21 46/78/10
s 2
f 45/77/15 50/76/14 55/80/22
f 55/80/22 53/81/23 45/77/15
s 1
f 50/86/17 51/83/16 56/91/24
f 56/91/24 55/94/25 50/86/17
f 54/90/21 53/87/20 57/95/26
f 57/95/26 58/98/27 54/90/21
s 2
f 53/81/23 55/80/22 59/84/28
f 59/84/28 57/85/29 53/81/23
s 1
f 55/94/25 56/91/24 60/99/30
f 60/99/30 59/100/31 55/94/25
f 58/98/27 57/95/26 61/101/32
f 61/101/32 62/102/33 58/98/27
s 2
f 57/85/29 59/84/28 63/88/34
f 63/88/34 61/89/35 57/85/29
s 1
f 59/100/31 60/99/30 64/103/36
f 64/103/36 63/104/46 59/100/31
f 62/102/33 61/101/32 65/105/38
f 65/105/38 66/106/39 62/102/33
s 2
f 61/89/35 63/88/34 67/92/40
f 67/92/40 65/93/41 61/89/35
s 1
f 63/104/46 64/103/36 68/107/47
f 68/107/47 67/108/43 63/104/46
f 66/106/39 65/105/38 69/109/19
f 69/109/19 70/110/19 66/106/39
s 2
f 65/93/41 67/92/40 71/96/48
f 71/96/48 69/97/3 65/93/41
s 1
f 67/108/43 68/107/47 72/111/11
f 72/111/11 71/112/1 67/108/43
f 73/117/9 74/120/10 75/113/1
f 75/113/1 76/116/11 73/117/9
s 2
f 76/114/12 77/115/13 78/118/14
f 78/118/14 73/119/15 76/114/12
s 1
f 79/125/16 78/128/17 77/121/19
f 77/121/19 80/124/18 79/125/16
f 74/120/10 73/117/9 81/129/20
f 81/129/20 82/132/21 74/120/10
s 2
f 73/119/15 78/118/14 83/122/22
f 83/122/22 81/123/23 73/119/15
s 1
f 78/128/17 79/125/16 84/133/24
f 84/133/24 83/136/25 78/128/17
f 82/132/21 81/129/20 85/137/26
f 85/137/26 86/140/27 82/132/21
s 2
f 81/123/23 83/122/22 87/126/28
f 87/126/28 85/127/29 81/123/23
s 1
f 83/136/25 84/133/24 88/141/30
f 88/141/30 87/142/31 83/136/25
f 86/140/27 85/137/26 89/143/32
f 89/143/32 90/144/33 86/140/27
s 2
f 85/127/29 87/126/28 91/130/34
f 91/130/34 89/131/35 85/127/29
s 1
f 87/142/31 88/141/30 92/145/36
f 92/145/36 91/146/46 87/142/31
f 90/144/33 89/143/32 93/147/38
f 93/147/38 94/148/39 90/144/33
s 2
f 89/131/35 91/130/34 95/134/40
f 95/134/40 93/135/41 89/131/35
s 1
f 91/146/46 92/145/36 96/149/47
f 96/149/47 95/150/43 91/146/46
f 94/148/39 93/147/38 97/151/19
f 97/151/19 98/152/19 94/148/39
s 2
f 93/135/41 95/134/40 99/138/48
f 99/138/48 97/139/3 93/135/41
s 1
f 95/150/43 96/149/47 100/153/1
f 100/153/1 99/154/1 95/150/43
s off
f 101/156/1 102/155/1 3/158/1
f 3/158/1 2/157/1 101/156/1
f 5/160/2 103/159/2 104/162/2
f 104/162/2 6/161/2 5/160/2
f 3/164/3 102/163/3 103/166/3
f 103/166/3 5/165/3 3/164/3
f 101/167/49 104/168/49 103/166/49
f 103/166/50 102/163/50 101/167/50
f 101/167/51 105/170/51 106/169/51
f 106/169/51 104/168/51 101/167/51
f 6/161/2 104/162/2 106/172/2
f 106/172/2 11/171/2 6/161/2
f 105/170/52 107/174/52 108/173/52
f 108/173/52 106/169/52 105/170/52
f 11/171/2 106/172/2 108/176/2
f 108/176/2 14/175/2 11/171/2
f 107/174/8 15/177/8 14/178/8
f 14/178/8 108/173/8 107/174/8
f 2/157/1 16/180/1 105/179/1
f 105/179/1 101/156/1 2/157/1
f 16/180/1 15/182/1 107/181/1
f 107/181/1 105/179/1 16/180/1
s 1
f 109/185/53 20/184/1 19/183/11
f 19/183/11 110/186/47 109/185/53
s 2
f 20/187/12 109/190/54 111/189/55
f 111/189/55 21/188/13 20/187/12
s 1
f 112/193/39 24/192/19 21/191/18
f 21/191/18 111/194/56 112/193/39
f 110/186/47 113/196/57 114/195/58
f 114/195/58 109/185/53 110/186/47
s 2
f 109/190/54 114/198/59 115/197/60
f 115/197/60 111/189/55 109/190/54
s 1
f 111/194/56 115/200/61 116/199/62
f 116/199/62 112/193/39 111/194/56
f 113/196/57 117/202/63 118/201/64
f 118/201/64 114/195/58 113/196/57
s 2
f 114/198/59 118/204/65 119/203/66
f 119/203/66 115/197/60 114/198/59
s 1
f 115/200/61 119/206/67 120/205/68
f 120/205/68 116/199/62 115/200/61
f 117/202/63 121/208/24 122/207/69
f 122/207/69 118/201/64 117/202/63
s 2
f 118/204/65 122/210/70 123/209/71
f 123/209/71 119/203/66 118/204/65
s 1
f 119/206/67 123/212/72 124/211/73
f 124/211/73 120/205/68 119/206/67
f 121/208/24 125/214/16 126/213/74
f 126/213/74 122/207/69 121/208/24
s 2
f 122/210/70 126/216/75 127/215/76
f 127/215/76 123/209/71 122/210/70
s 1
f 123/212/72 127/218/77 128/217/10
f 128/217/10 124/211/73 123/212/72
f 125/214/16 42/220/44 41/219/19
f 41/219/19 126/213/74 125/214/16
s 2
f 126/216/75 41/222/3 43/221/45
f 43/221/45 127/215/76 126/216/75
s 1
f 127/218/77 43/224/1 44/223/1
f 44/223/1 128/217/10 127/218/77
f 129/227/53 48/226/1 47/225/11
f 47/225/11 130/228/47 129/227/53
s 2
f 48/229/12 129/232/54 131/231/55
f 131/231/55 49/230/13 48/229/12
s 1
f 132/235/39 52/234/18 49/233/18
f 49/233/18 131/236/56 132/235/39
f 130/228/47 133/238/57 134/237/58
f 134/237/58 129/227/53 130/228/47
s 2
f 129/232/54 134/240/59 135/239/60
f 135/239/60 131/231/55 129/232/54
s 1
f 131/236/56 135/242/61 136/241/33
f 136/241/33 132/235/39 131/236/56
f 133/238/57 137/244/63 138/243/64
f 138/243/64 134/237/58 133/238/57
s 2
f 134/240/59 138/246/65 139/245/66
f 139/245/66 135/239/60 134/240/59
s 1
f 135/242/61 139/248/67 140/247/68
f 140/247/68 136/241/33 135/242/61
f 137/244/63 141/250/24 142/249/69
f 142/249/69 138/243/64 137/244/63
s 2
f 138/246/65 142/252/70 143/251/71
f 143/251/71 139/245/66 138/246/65
s 1
f 139/248/67 143/254/72 144/253/73
f 144/253/73 140/247/68 139/248/67
f 141/250/24 145/256/16 146/255/74
f 146/255/74 142/249/69 141/250/24
s 2
f 142/252/70 146/258/75 147/257/76
f 147/257/76 143/251/71 142/252/70
s 1
f 143/254/72 147/260/77 148/259/10
f 148/259/10 144/253/73 143/254/72
f 145/256/16 70/262/19 69/261/19
f 69/261/19 146/255/74 145/256/16
s 2
f 146/258/75 69/264/3 71/263/48
f 71/263/48 147/257/76 146/258/75
s 1
f 147/260/77 71/266/1 72/265/11
f 72/265/11 148/259/10 147/260/77
f 149/269/53 76/268/11 75/267/1
f 75/267/1 150/270/47 149/269/53
s 2
f 76/271/12 149/274/54 151/273/55
f 151/273/55 77/272/13 76/271/12
s 1
f 152/277/39 80/276/18 77/275/19
f 77/275/19 151/278/56 152/277/39
f 150/270/47 153/280/78 154/279/58
f 154/279/58 149/269/53 150/270/47
s 2
f 149/274/54 154/282/59 155/281/60
f 155/281/60 151/273/55 149/274/54
s 1
f 151/278/56 155/284/61 156/283/33
f 156/283/33 152/277/39 151/278/56
f 153/280/78 157/286/63 158/285/64
f 158/285/64 154/279/58 153/280/78
s 2
f 154/282/59 158/288/65 159/287/66
f 159/287/66 155/281/60 154/282/59
s 1
f 155/284/61 159/290/67 160/289/68
f 160/289/68 156/283/33 155/284/61
f 157/286/63 161/292/24 162/291/69
f 162/291/69 158/285/64 157/286/63
s 2
f 158/288/65 162/294/70 163/293/71
f 163/293/71 159/287/66 158/288/65
s 1
f 159/290/67 163/296/72 164/295/73
f 164/295/73 160/289/68 159/290/67
f 161/292/24 165/298/16 166/297/74
f 166/297/74 162/291/69 161/292/24
s 2
f 162/294/70 166/300/75 167/299/76
f 167/299/76 163/293/71 162/294/70
s 1
f 163/296/72 167/302/77 168/301/10
f 168/301/10 164/295/73 163/296/72
f 165/298/16 98/304/19 97/303/19
f 97/303/19 166/297/74 165/298/16
s 2
f 166/300/75 97/306/3 99/305/48
f 99/305/48 167/299/76 166/300/75
s 1
f 167/302/77 99/308/1 100/307/1
f 100/307/1 168/301/10 167/302/77
# 260 faces

17
stop_light/model.config Normal file
View File

@@ -0,0 +1,17 @@
<?xml version="1.0"?>
<model>
<name>Stop light</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Louise Poubel</name>
<email>louise@osrfoundation.org</email>
</author>
<description>
A traffic light with red, yellow and green lights.
A light can be turned on by setting its emissive color either on the SDF or programmatically.
</description>
</model>

90
stop_light/model.sdf Normal file
View File

@@ -0,0 +1,90 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="stop_light">
<static>true</static>
<!-- this pose can be overriden when including the light on another model -->
<pose>0 0 1.0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<mesh>
<uri>model://stop_light/meshes/stop_light.obj</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</collision>
<visual name="frame">
<geometry>
<mesh>
<uri>model://stop_light/meshes/stop_light.obj</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</visual>
<visual name="red">
<pose>-0.001123 -0.082251 -0.147514 0 0 0</pose>
<geometry>
<sphere>
<radius>0.1012</radius>
</sphere>
</geometry>
<material>
<script>
<uri>model://stop_light/materials/scripts/</uri>
<uri>model://stop_light/materials/textures/</uri>
<name>StopLight/Light</name>
</script>
<ambient>1 0 0 1</ambient>
<specular>1 0 0 1</specular>
<!-- Turn a light on by uncommenting emissive -->
<!--emissive>1 0 0 1</emissive-->
</material>
</visual>
<visual name="yellow">
<pose>-0.001123 -0.082251 -0.402 0 0 0</pose>
<geometry>
<sphere>
<radius>0.1012</radius>
</sphere>
</geometry>
<material>
<script>
<uri>model://stop_light/materials/scripts/</uri>
<uri>model://stop_light/materials/textures/</uri>
<name>StopLight/Light</name>
</script>
<ambient>1 1 0 1</ambient>
<specular>1 1 0 1</specular>
<!--emissive>1 1 0 1</emissive-->
</material>
</visual>
<visual name="green">
<pose>-0.001123 -0.082251 -0.655 0 0 0</pose>
<geometry>
<sphere>
<radius>0.1012</radius>
</sphere>
</geometry>
<material>
<script>
<uri>model://stop_light/materials/scripts/</uri>
<uri>model://stop_light/materials/textures/</uri>
<name>StopLight/Light</name>
</script>
<ambient>0 1 0 1</ambient>
<specular>0 1 0 1</specular>
<!--emissive>0 1 0 1</emissive-->
</material>
</visual>
</link>
</model>
</sdf>