init
This commit is contained in:
Quella777
6
.gitignore
vendored
Normal file
6
.gitignore
vendored
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@@ -0,0 +1,6 @@
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||||
build
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||||
build_*
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||||
Ogre.log
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||||
model.tar.gz
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*.swp
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.DS_Store
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||||
51
CMakeLists.txt
Normal file
51
CMakeLists.txt
Normal file
@@ -0,0 +1,51 @@
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||||
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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||||
|
||||
if(COMMAND CMAKE_POLICY)
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CMAKE_POLICY(SET CMP0003 NEW)
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||||
CMAKE_POLICY(SET CMP0004 NEW)
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endif(COMMAND CMAKE_POLICY)
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||||
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set (CMAKE_INSTALL_PREFIX /usr/share CACHE STRING "Install path prefix")
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project (gazebo_models)
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string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
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exec_program(date ARGS -u +%Y-%m-%-dT%H:%M:%S OUTPUT_VARIABLE CURRENT_DATE)
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||||
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||||
set (MODEL_URI_LIST "" CACHE INTERNAL "Model URI List" FORCE)
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# Convert install prefix to an absolute path, to support the common case of
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# doing this (which otherwise will fail during the install):`
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# cmake -DCMAKE_INSTALL_PREFIX=~/.gazebo ..
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get_filename_component(CMAKE_INSTALL_PREFIX_ABSOLUTE ${CMAKE_INSTALL_PREFIX}
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ABSOLUTE)
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||||
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file(GLOB_RECURSE MODEL_CFGS "model.config")
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foreach (MODEL_CFG ${MODEL_CFGS})
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get_filename_component(dir ${MODEL_CFG} DIRECTORY) # get dir of model.config
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get_filename_component(dir ${dir} NAME) # get dirname only, not full path
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add_custom_target(${dir} ALL COMMAND mkdir -p ${PROJECT_BINARY_DIR}/${dir}
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COMMAND tar czvf ${PROJECT_BINARY_DIR}/${dir}/model.tar.gz ../${dir})
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install (DIRECTORY ${dir} DESTINATION ${CMAKE_INSTALL_PREFIX_ABSOLUTE}/models)
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install (FILES ${PROJECT_BINARY_DIR}/${dir}/model.tar.gz DESTINATION
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${CMAKE_INSTALL_PREFIX_ABSOLUTE}/models/${dir})
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set(MODEL_URI_LIST "${MODEL_URI_LIST}<uri>file://${dir}</uri>\n")
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endforeach ()
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configure_file("${CMAKE_SOURCE_DIR}/manifest.xml.in"
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"${PROJECT_BINARY_DIR}/manifest.xml")
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install (FILES "${PROJECT_BINARY_DIR}/manifest.xml" DESTINATION
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${CMAKE_INSTALL_PREFIX_ABSOLUTE}/models/)
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configure_file("${CMAKE_SOURCE_DIR}/database.config.in"
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"${PROJECT_BINARY_DIR}/database.config")
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install (FILES "${PROJECT_BINARY_DIR}/database.config" DESTINATION
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${CMAKE_INSTALL_PREFIX_ABSOLUTE}/models/)
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message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX_ABSOLUTE}/models")
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# This must always be last!
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include(CPack)
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15
LICENSE
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15
LICENSE
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@@ -0,0 +1,15 @@
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||||
Software License Agreement (Creative Commons Attribution 3.0 Unported)
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||||
|
||||
Copyright 2012 Nathan Koenig
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Licensed under the Creative Commons Attribution 3.0 Unported License
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(the "License"); you may not use this file except in compliance with the
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||||
License. You may obtain a copy of the License at
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||||
|
||||
http://creativecommons.org/licenses/by/3.0/
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||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
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||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
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||||
5
README.md
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5
README.md
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@@ -0,0 +1,5 @@
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This repository holds the [Gazebo](http://gazebosim.org) model database.
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Learn more about the database [here](http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot).
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Learn how to contribute models [here](http://gazebosim.org/tutorials?tut=model_contrib&cat=build_robot).
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BIN
ambulance/materials/textures/ambulance.png
Executable file
BIN
ambulance/materials/textures/ambulance.png
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Binary file not shown.
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After Width: | Height: | Size: 357 KiB |
30
ambulance/meshes/ambulance.mtl
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30
ambulance/meshes/ambulance.mtl
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@@ -0,0 +1,30 @@
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# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
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# File Created: 27.10.2016 19:35:26
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newmtl Ambulance
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Ns 10.0000
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Ni 1.5000
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d 1.0000
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Tr 0.0000
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Tf 1.0000 1.0000 1.0000
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illum 2
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Ka 0.5882 0.5882 0.5882
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||||
Kd 0.5882 0.5882 0.5882
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||||
Ks 0.0000 0.0000 0.0000
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||||
Ke 0.0000 0.0000 0.0000
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map_Ka ambulance.png
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map_Kd ambulance.png
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newmtl Firetruck_Wheels
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Ns 10.0000
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Ni 1.5000
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d 1.0000
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Tr 0.0000
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Tf 1.0000 1.0000 1.0000
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illum 2
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Ka 0.5882 0.5882 0.5882
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Kd 0.5882 0.5882 0.5882
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Ks 0.0000 0.0000 0.0000
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Ke 0.0000 0.0000 0.0000
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map_Ka model://suv/materials/textures/wheels_01.png
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map_Kd model://suv/materials/textures/wheels_01.png
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3381
ambulance/meshes/ambulance.obj
Executable file
3381
ambulance/meshes/ambulance.obj
Executable file
File diff suppressed because it is too large
Load Diff
23
ambulance/model.config
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23
ambulance/model.config
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@@ -0,0 +1,23 @@
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<?xml version="1.0"?>
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|
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<model>
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<name>Ambulance</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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|
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<author>
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<name>Nate Koenig</name>
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<email>nate@osrfoundation.org</email>
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</author>
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<depend>
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<model>
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<uri>model://suv</uri>
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<version>1.0</version>
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</model>
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</depend>
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<description>
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An ambulance.
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</description>
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</model>
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24
ambulance/model.sdf
Normal file
24
ambulance/model.sdf
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@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="ambulance">
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<static>true</static>
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<link name="link">
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||||
<collision name="collision">
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<geometry>
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<mesh>
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<scale>0.0254 0.0254 0.0254</scale>
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<uri>model://ambulance/meshes/ambulance.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
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<visual name="visual">
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<geometry>
|
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<mesh>
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||||
<scale>0.0254 0.0254 0.0254</scale>
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<uri>model://ambulance/meshes/ambulance.obj</uri>
|
||||
</mesh>
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||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
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||||
</sdf>
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||||
BIN
apartment/materials/textures/apartment_diffuse.jpg
Normal file
BIN
apartment/materials/textures/apartment_diffuse.jpg
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Binary file not shown.
|
After Width: | Height: | Size: 350 KiB |
BIN
apartment/materials/textures/apartment_spec.jpg
Normal file
BIN
apartment/materials/textures/apartment_spec.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 339 KiB |
184
apartment/meshes/apartment.dae
Executable file
184
apartment/meshes/apartment.dae
Executable file
File diff suppressed because one or more lines are too long
16
apartment/model.config
Normal file
16
apartment/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Apartment</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
An apartment building.
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||||
</description>
|
||||
</model>
|
||||
22
apartment/model.sdf
Normal file
22
apartment/model.sdf
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@@ -0,0 +1,22 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="apartment">
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||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://apartment/meshes/apartment.dae</uri>
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||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
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||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://apartment/meshes/apartment.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
Binary file not shown.
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After Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 27 KiB |
49
apollo15_landing_site_1000x1000/model-1_4.sdf
Normal file
49
apollo15_landing_site_1000x1000/model-1_4.sdf
Normal file
@@ -0,0 +1,49 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="apollo15_landing_site_1000x1000">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.2</mu>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>1</soft_cfm>
|
||||
<kp>100000</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.000001</max_vel>
|
||||
<min_depth>0.02</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<geometry>
|
||||
<heightmap>
|
||||
<uri>model://apollo15_landing_site_1000x1000/materials/textures/NAC_DTM_APOLLO15_E261N0036_257x257+7472+2152.png</uri>
|
||||
<size>514 514 49</size>
|
||||
<pos>0 0 -45</pos>
|
||||
</heightmap>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<heightmap>
|
||||
<texture>
|
||||
<diffuse>model://apollo15_landing_site_1000x1000/materials/textures/AS16-110-18026HR-512x512.jpg</diffuse>
|
||||
<normal>file://media/materials/textures/flat_normal.png</normal>
|
||||
<size>2</size>
|
||||
</texture>
|
||||
<uri>model://apollo15_landing_site_1000x1000/materials/textures/NAC_DTM_APOLLO15_E261N0036_257x257+7472+2152.png</uri>
|
||||
<size>514 514 49</size>
|
||||
<pos>0 0 -45</pos>
|
||||
</heightmap>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
17
apollo15_landing_site_1000x1000/model.config
Normal file
17
apollo15_landing_site_1000x1000/model.config
Normal file
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Apollo15 Landing Site Heightmap 1000x1000 meters</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Kei Okada</name>
|
||||
<email>kei.okada@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Terrain generated from http://wms.lroc.asu.edu/lroc/view_rdr_product/NAC_DTM_APOLLO15
|
||||
</description>
|
||||
|
||||
</model>
|
||||
14
arm_part/materials/scripts/arm_part.material
Normal file
14
arm_part/materials/scripts/arm_part.material
Normal file
@@ -0,0 +1,14 @@
|
||||
material ArmPart/Diffuse
|
||||
{
|
||||
receive_shadows off
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture parts.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
arm_part/materials/textures/parts.png
Executable file
BIN
arm_part/materials/textures/parts.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 646 KiB |
179
arm_part/meshes/arm.dae
Executable file
179
arm_part/meshes/arm.dae
Executable file
File diff suppressed because one or more lines are too long
20
arm_part/model.config
Normal file
20
arm_part/model.config
Normal file
@@ -0,0 +1,20 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Arm Part</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A hypothetical part that might exist in an industrial manufacturing setting.
|
||||
</description>
|
||||
</model>
|
||||
42
arm_part/model.sdf
Normal file
42
arm_part/model.sdf
Normal file
@@ -0,0 +1,42 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="arm_part">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<pose>0 -0.12223 0.101835 0 0 0</pose>
|
||||
<mass>0.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.00950655468</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0054345236</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01148428921</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<collision name="collision">
|
||||
<pose>0 -0.12223 0.101835 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.29824 0.43206 0.20367</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://arm_part/meshes/arm.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://arm_part/materials/scripts</uri>
|
||||
<uri>model://arm_part/materials/textures</uri>
|
||||
<name>ArmPart/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
15
arrow_red/model.config
Normal file
15
arrow_red/model.config
Normal file
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Arrow (red)</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ian Chen</name>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A static red arrow.
|
||||
</description>
|
||||
</model>
|
||||
31
arrow_red/model.sdf
Normal file
31
arrow_red/model.sdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="arrow_red">
|
||||
<pose>0 0 3.0 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<pose>0 0 0 1.57 0 1.57</pose>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<polyline>
|
||||
<point>3.0 0.0</point>
|
||||
<point>0.6 -3.0</point>
|
||||
<point>0.6 -1.6</point>
|
||||
<point>-3.0 -1.6</point>
|
||||
<point>-3.0 1.6</point>
|
||||
<point>0.6 1.6</point>
|
||||
<point>0.6 3.0</point>
|
||||
<point>3.0 0.0</point>
|
||||
<height>0.6</height>
|
||||
</polyline>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
20
asphalt_plane/materials/scripts/asphalt.material
Normal file
20
asphalt_plane/materials/scripts/asphalt.material
Normal file
@@ -0,0 +1,20 @@
|
||||
material vrc/asphalt
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
ambient 0.5 0.5 0.5 1.0
|
||||
diffuse 0.5 0.5 0.5 1.0
|
||||
specular 0.2 0.2 0.2 1.0 12.5
|
||||
|
||||
texture_unit
|
||||
{
|
||||
texture tarmac.png
|
||||
filtering anistropic
|
||||
max_anisotropy 16
|
||||
scale 0.1 0.1
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
asphalt_plane/materials/textures/tarmac.png
Normal file
BIN
asphalt_plane/materials/textures/tarmac.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.6 MiB |
30
asphalt_plane/model-1_4.sdf
Normal file
30
asphalt_plane/model-1_4.sdf
Normal file
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="asphalt_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>20 20 .1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>20 20 .1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://asphalt_plane/materials/scripts</uri>
|
||||
<uri>model://asphalt_plane/materials/textures</uri>
|
||||
<name>vrc/asphalt</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
18
asphalt_plane/model.config
Normal file
18
asphalt_plane/model.config
Normal file
@@ -0,0 +1,18 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Asphalt Plane</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Thomas Koletschka</name>
|
||||
<email>thomas.koletschka@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
An asphalt textured plane.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
30
asphalt_plane/model.sdf
Normal file
30
asphalt_plane/model.sdf
Normal file
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="asphalt_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>20 20 .1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>20 20 .1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://asphalt_plane/materials/scripts</uri>
|
||||
<uri>model://asphalt_plane/materials/textures</uri>
|
||||
<name>vrc/asphalt</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 109 B |
125
asus_xtion_pro_camera/meshes/asus_xtion_pro_camera.dae
Normal file
125
asus_xtion_pro_camera/meshes/asus_xtion_pro_camera.dae
Normal file
File diff suppressed because one or more lines are too long
17
asus_xtion_pro_camera/model.config
Normal file
17
asus_xtion_pro_camera/model.config
Normal file
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<version>1.0</version>
|
||||
<name>Asus Xtion Pro Depth Camera</name>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Adam Allevato</name>
|
||||
<email>adam.d.allevato@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
The ASUS Xtion Pro Live medium-range depth camera. Range: 0.3-3.5m.
|
||||
https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE/
|
||||
</description>
|
||||
</model>
|
||||
63
asus_xtion_pro_camera/model.sdf
Normal file
63
asus_xtion_pro_camera/model.sdf
Normal file
@@ -0,0 +1,63 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="asus_xtion_pro_camera">
|
||||
<pose>0 0 0.0235 0 0 0</pose>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>0.316</mass>
|
||||
<inertia>
|
||||
<ixx>.0007765</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>.0000725</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>.0007657</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.04 0.18 0.047</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.1</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.4</mu>
|
||||
<mu2>0.4</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://asus_xtion_pro_camera/meshes/asus_xtion_pro_camera.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<sensor name="camera" type="depth">
|
||||
<pose>0.0085 0.0105 0.0197 0 0 0</pose>
|
||||
<update_rate>30</update_rate>
|
||||
<camera>
|
||||
<horizontal_fov>1.01229</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.3</near>
|
||||
<far>3.5</far>
|
||||
</clip>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
16
ball_bearing/model.config
Normal file
16
ball_bearing/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Ball Bearing</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.5'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Jackie Kay</name>
|
||||
<email>jackie@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A 6mm diameter ball bearing.
|
||||
</description>
|
||||
</model>
|
||||
70
ball_bearing/model.rsdf
Normal file
70
ball_bearing/model.rsdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" ?>
|
||||
<%
|
||||
# Marble with diameter 1.5 cm
|
||||
# SI units (length in meters)
|
||||
|
||||
# Geometry
|
||||
|
||||
d = 0.006
|
||||
r = d/2.0
|
||||
|
||||
# Inertia
|
||||
mass = 0.0011
|
||||
ixx = 2.0*mass*r**2/5.0
|
||||
iyy = 2.0*mass*r**2/5.0
|
||||
izz = 2.0*mass*r**2/5.0
|
||||
%>
|
||||
<sdf version="1.5">
|
||||
<model name="ball_bearing">
|
||||
<link name="link">
|
||||
<pose>0 0 <%= r %> 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass><%= mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= ixx %></ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy><%= iyy %></iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz><%= izz %></izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= r %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.1</max_vel>
|
||||
<min_depth>0.0001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= r %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Chrome</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- approximate rolling friction -->
|
||||
<velocity_decay>
|
||||
<linear>0.00</linear>
|
||||
<angular>0.005</angular>
|
||||
</velocity_decay>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
68
ball_bearing/model.sdf
Normal file
68
ball_bearing/model.sdf
Normal file
@@ -0,0 +1,68 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<sdf version="1.5">
|
||||
<model name="ball_bearing">
|
||||
<link name="link">
|
||||
<pose>0 0 0.003 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.0011</mass>
|
||||
<inertia>
|
||||
<ixx>3.96e-09</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>3.96e-09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>3.96e-09</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.003</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<!-- stainless steel 18-8 material properties -->
|
||||
<poissons_ratio>0.305</poissons_ratio>
|
||||
<elastic_modulus>2.0e+11</elastic_modulus>
|
||||
<ode>
|
||||
<kp>100000</kp>
|
||||
<kd>100</kd>
|
||||
<max_vel>100.0</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<torsional>
|
||||
<coefficient>1.0</coefficient>
|
||||
<use_patch_radius>0</use_patch_radius>
|
||||
<surface_radius>0.01</surface_radius>
|
||||
</torsional>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.003</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- approximate rolling friction -->
|
||||
<velocity_decay>
|
||||
<linear>0.00</linear>
|
||||
<angular>0.005</angular>
|
||||
</velocity_decay>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
15
beer/materials/scripts/beer.material
Normal file
15
beer/materials/scripts/beer.material
Normal file
@@ -0,0 +1,15 @@
|
||||
material Beer/Diffuse
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture beer.png
|
||||
filtering anistropic
|
||||
max_anisotropy 16
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
beer/materials/textures/beer.png
Normal file
BIN
beer/materials/textures/beer.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.1 MiB |
44
beer/model-1_4.sdf
Normal file
44
beer/model-1_4.sdf
Normal file
@@ -0,0 +1,44 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.4'>
|
||||
<model name="beer">
|
||||
<link name='link'>
|
||||
<pose>0 0 0.115 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.390</mass>
|
||||
<inertia>
|
||||
<ixx>0.00058</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.00058</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00019</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.055000</radius>
|
||||
<length>0.230000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.055000</radius>
|
||||
<length>0.230000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://beer/materials/scripts</uri>
|
||||
<uri>model://beer/materials/textures</uri>
|
||||
<name>Beer/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
16
beer/model.config
Normal file
16
beer/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Beer</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Maurice Fallon</name>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Beer
|
||||
</description>
|
||||
</model>
|
||||
42
beer/model.sdf
Normal file
42
beer/model.sdf
Normal file
@@ -0,0 +1,42 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="beer">
|
||||
<link name="link">
|
||||
<pose>0 0 0.115 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.390</mass>
|
||||
<inertia>
|
||||
<ixx>0.00058</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.00058</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00019</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.055000</radius>
|
||||
<length>0.230000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.055000</radius>
|
||||
<length>0.230000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://beer/materials/scripts</uri>
|
||||
<uri>model://beer/materials/textures</uri>
|
||||
<name>Beer/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
167
bin_4_dropping_task/meshes/bin_4_dropping_task.dae
Normal file
167
bin_4_dropping_task/meshes/bin_4_dropping_task.dae
Normal file
File diff suppressed because one or more lines are too long
15
bin_4_dropping_task/model.config
Normal file
15
bin_4_dropping_task/model.config
Normal file
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>bin_4_dropping task</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Lafith Mattara</name>
|
||||
<email>mmlafith3@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A marked bin which can be used in dropping task simulation.
|
||||
</description>
|
||||
</model>
|
||||
23
bin_4_dropping_task/model.sdf
Normal file
23
bin_4_dropping_task/model.sdf
Normal file
@@ -0,0 +1,23 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name='bin_4_dropping_task'>
|
||||
<link name='bin'>
|
||||
<pose>0 0 0.1 0 0 0</pose>
|
||||
<collision name ='bin_collision'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bin_4_dropping_task/meshes/bin_4_dropping_task.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='bin_visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bin_4_dropping_task/meshes/bin_4_dropping_task.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<static>true</static>
|
||||
</model>
|
||||
</sdf>
|
||||
165
bookshelf/model-1_2.sdf
Normal file
165
bookshelf/model-1_2.sdf
Normal file
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="bookshelf">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
<collision name="back">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual1">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="left_side">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual2">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="right_side">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual3">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="bottom">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual4">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="top">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual5">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="low_shelf">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual6">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="high_shelf">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual7">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
165
bookshelf/model-1_3.sdf
Normal file
165
bookshelf/model-1_3.sdf
Normal file
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<model name="bookshelf">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
<collision name="back">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual1">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="left_side">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual2">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="right_side">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual3">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="bottom">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual4">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="top">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual5">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="low_shelf">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual6">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="high_shelf">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual7">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
165
bookshelf/model-1_4.sdf
Normal file
165
bookshelf/model-1_4.sdf
Normal file
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="bookshelf">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
<collision name="back">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual1">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="left_side">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual2">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="right_side">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual3">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="bottom">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual4">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="top">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual5">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="low_shelf">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual6">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="high_shelf">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual7">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
19
bookshelf/model.config
Normal file
19
bookshelf/model.config
Normal file
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Bookshelf</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>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A wooden bookshelf.
|
||||
</description>
|
||||
</model>
|
||||
165
bookshelf/model.sdf
Normal file
165
bookshelf/model.sdf
Normal file
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="bookshelf">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
<collision name="back">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual1">
|
||||
<pose>0 0.005 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.01 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="left_side">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual2">
|
||||
<pose>0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="right_side">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual3">
|
||||
<pose>-0.45 -0.195 0.6 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.4 1.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="bottom">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual4">
|
||||
<pose>0 -0.195 0.03 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.06</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="top">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual5">
|
||||
<pose>0 -0.195 1.19 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="low_shelf">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual6">
|
||||
<pose>0 -0.195 0.43 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="high_shelf">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual7">
|
||||
<pose>0 -0.195 0.8 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.88 0.4 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
191
bowl/meshes/bowl.dae
Normal file
191
bowl/meshes/bowl.dae
Normal file
File diff suppressed because one or more lines are too long
25
bowl/model-1_2.sdf
Normal file
25
bowl/model-1_2.sdf
Normal file
@@ -0,0 +1,25 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="bowl">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.098</radius>
|
||||
<length>0.035</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bowl/meshes/bowl.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
25
bowl/model-1_3.sdf
Normal file
25
bowl/model-1_3.sdf
Normal file
@@ -0,0 +1,25 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<model name="bowl">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.098</radius>
|
||||
<length>0.035</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bowl/meshes/bowl.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
25
bowl/model-1_4.sdf
Normal file
25
bowl/model-1_4.sdf
Normal file
@@ -0,0 +1,25 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="bowl">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.098</radius>
|
||||
<length>0.035</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bowl/meshes/bowl.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
19
bowl/model.config
Normal file
19
bowl/model.config
Normal file
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Bowl</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>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A simple bowl.
|
||||
</description>
|
||||
</model>
|
||||
35
bowl/model.sdf
Normal file
35
bowl/model.sdf
Normal file
@@ -0,0 +1,35 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="bowl">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<pose>0 0 0.0175 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.000250308</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyy>0.000250308</iyy>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.0004802</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0 0.0175 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.098</radius>
|
||||
<length>0.035</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://bowl/meshes/bowl.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
box_target_green/materials/textures/start_pad.png
Normal file
BIN
box_target_green/materials/textures/start_pad.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 19 KiB |
225
box_target_green/meshes/mesh.dae
Normal file
225
box_target_green/meshes/mesh.dae
Normal file
@@ -0,0 +1,225 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
|
||||
</contributor>
|
||||
<created>2015-05-26T09:38:43</created>
|
||||
<modified>2015-05-26T09:38:43</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_cameras>
|
||||
<camera id="Camera-camera" name="Camera">
|
||||
<optics>
|
||||
<technique_common>
|
||||
<perspective>
|
||||
<xfov sid="xfov">49.13434</xfov>
|
||||
<aspect_ratio>1.777778</aspect_ratio>
|
||||
<znear sid="znear">0.1</znear>
|
||||
<zfar sid="zfar">100</zfar>
|
||||
</perspective>
|
||||
</technique_common>
|
||||
</optics>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<YF_dofdist>0</YF_dofdist>
|
||||
<shiftx>0</shiftx>
|
||||
<shifty>0</shifty>
|
||||
</technique>
|
||||
</extra>
|
||||
</camera>
|
||||
</library_cameras>
|
||||
<library_lights>
|
||||
<light id="Lamp-light" name="Lamp">
|
||||
<technique_common>
|
||||
<point>
|
||||
<color sid="color">1 1 1</color>
|
||||
<constant_attenuation>1</constant_attenuation>
|
||||
<linear_attenuation>0</linear_attenuation>
|
||||
<quadratic_attenuation>0.00111109</quadratic_attenuation>
|
||||
</point>
|
||||
</technique_common>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<adapt_thresh>0.000999987</adapt_thresh>
|
||||
<area_shape>1</area_shape>
|
||||
<area_size>0.1</area_size>
|
||||
<area_sizey>0.1</area_sizey>
|
||||
<area_sizez>1</area_sizez>
|
||||
<atm_distance_factor>1</atm_distance_factor>
|
||||
<atm_extinction_factor>1</atm_extinction_factor>
|
||||
<atm_turbidity>2</atm_turbidity>
|
||||
<att1>0</att1>
|
||||
<att2>1</att2>
|
||||
<backscattered_light>1</backscattered_light>
|
||||
<bias>1</bias>
|
||||
<blue>1</blue>
|
||||
<buffers>1</buffers>
|
||||
<bufflag>0</bufflag>
|
||||
<bufsize>2880</bufsize>
|
||||
<buftype>2</buftype>
|
||||
<clipend>30.002</clipend>
|
||||
<clipsta>1.000799</clipsta>
|
||||
<compressthresh>0.04999995</compressthresh>
|
||||
<dist sid="blender_dist">29.99998</dist>
|
||||
<energy sid="blender_energy">1</energy>
|
||||
<falloff_type>2</falloff_type>
|
||||
<filtertype>0</filtertype>
|
||||
<flag>0</flag>
|
||||
<gamma sid="blender_gamma">1</gamma>
|
||||
<green>1</green>
|
||||
<halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
|
||||
<horizon_brightness>1</horizon_brightness>
|
||||
<mode>8192</mode>
|
||||
<ray_samp>1</ray_samp>
|
||||
<ray_samp_method>1</ray_samp_method>
|
||||
<ray_samp_type>0</ray_samp_type>
|
||||
<ray_sampy>1</ray_sampy>
|
||||
<ray_sampz>1</ray_sampz>
|
||||
<red>1</red>
|
||||
<samp>3</samp>
|
||||
<shadhalostep>0</shadhalostep>
|
||||
<shadow_b sid="blender_shadow_b">0</shadow_b>
|
||||
<shadow_g sid="blender_shadow_g">0</shadow_g>
|
||||
<shadow_r sid="blender_shadow_r">0</shadow_r>
|
||||
<sky_colorspace>0</sky_colorspace>
|
||||
<sky_exposure>1</sky_exposure>
|
||||
<skyblendfac>1</skyblendfac>
|
||||
<skyblendtype>1</skyblendtype>
|
||||
<soft>3</soft>
|
||||
<spotblend>0.15</spotblend>
|
||||
<spotsize>75</spotsize>
|
||||
<spread>1</spread>
|
||||
<sun_brightness>1</sun_brightness>
|
||||
<sun_effect_type>0</sun_effect_type>
|
||||
<sun_intensity>1</sun_intensity>
|
||||
<sun_size>1</sun_size>
|
||||
<type>0</type>
|
||||
</technique>
|
||||
</extra>
|
||||
</light>
|
||||
</library_lights>
|
||||
<library_images>
|
||||
<image id="start_pad_png" name="start_pad_png">
|
||||
<init_from>start_pad.png</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_effects>
|
||||
<effect id="Material-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="start_pad_png-surface">
|
||||
<surface type="2D">
|
||||
<init_from>start_pad_png</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="start_pad_png-sampler">
|
||||
<sampler2D>
|
||||
<source>start_pad_png-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<phong>
|
||||
<emission>
|
||||
<color sid="emission">0.2 0.2 0.2 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color sid="ambient">0.9 0.9 0.9 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<texture texture="start_pad_png-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>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_materials>
|
||||
<material id="Material-material" name="Material">
|
||||
<instance_effect url="#Material-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-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="Cube-mesh-map-0">
|
||||
<float_array id="Cube-mesh-map-0-array" count="72">0.004854381 0.6715211 0.3284789 0.671521 0.3284789 0.9951456 0.9951456 0.6618123 0.6715211 0.6618123 0.6715211 0.3381878 0.00485444 0.6618123 0.004854321 0.3381877 0.3284789 0.3381878 0.004854321 0.00485444 0.3284789 0.004854321 0.3284789 0.3284789 0.9951457 0.3284789 0.6715211 0.3284789 0.6715211 0.00485444 0.6618123 0.004854381 0.6618123 0.3284788 0.3381878 0.3284789 0.004854321 0.9951456 0.004854381 0.6715211 0.3284789 0.9951456 0.9951456 0.3381877 0.9951456 0.6618123 0.6715211 0.3381878 0.3284791 0.6618123 0.00485444 0.6618123 0.3284789 0.3381878 0.004854381 0.328479 0.004854321 0.00485444 0.3284789 0.3284789 0.9951457 0.004854321 0.9951457 0.3284789 0.6715211 0.00485444 0.3381877 0.004854321 0.6618123 0.004854381 0.3381878 0.3284789</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<polylist material="Material-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
|
||||
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
|
||||
</polylist>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_controllers/>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Camera" name="Camera" type="NODE">
|
||||
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
|
||||
<instance_camera url="#Camera-camera"/>
|
||||
</node>
|
||||
<node id="Lamp" name="Lamp" type="NODE">
|
||||
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 0.6270748 0.9551712 -0.1998834 0.2183912 4.595484 -0.05518906 0.6045247 0.7946723 6.933607 0 0 0 1</matrix>
|
||||
<instance_light url="#Lamp-light"/>
|
||||
</node>
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">2.999999 0 0 0 0 2.999999 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material-material" 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>
|
||||
16
box_target_green/model.config
Normal file
16
box_target_green/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Box target (green)</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A green box target that can be used to mark a location.
|
||||
</description>
|
||||
</model>
|
||||
24
box_target_green/model.sdf
Normal file
24
box_target_green/model.sdf
Normal file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="box_target_green">
|
||||
<pose>0 0 1 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>6 6 2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://box_target_green/meshes/mesh.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
box_target_red/materials/textures/end_pad.png
Normal file
BIN
box_target_red/materials/textures/end_pad.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 18 KiB |
126
box_target_red/meshes/mesh.dae
Normal file
126
box_target_red/meshes/mesh.dae
Normal file
@@ -0,0 +1,126 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
|
||||
</contributor>
|
||||
<created>2015-05-26T09:38:43</created>
|
||||
<modified>2015-05-26T09:38:43</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_images>
|
||||
<image id="start_pad_png" name="start_pad_png">
|
||||
<init_from>end_pad.png</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_effects>
|
||||
<effect id="Material-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="start_pad_png-surface">
|
||||
<surface type="2D">
|
||||
<init_from>start_pad_png</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="start_pad_png-sampler">
|
||||
<sampler2D>
|
||||
<source>start_pad_png-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<phong>
|
||||
<emission>
|
||||
<color sid="emission">0.2 0.2 0.2 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color sid="ambient">0.9 0.9 0.9 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<texture texture="start_pad_png-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>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_materials>
|
||||
<material id="Material-material" name="Material">
|
||||
<instance_effect url="#Material-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-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="Cube-mesh-map-0">
|
||||
<float_array id="Cube-mesh-map-0-array" count="72">0.004854381 0.6715211 0.3284789 0.671521 0.3284789 0.9951456 0.9951456 0.6618123 0.6715211 0.6618123 0.6715211 0.3381878 0.00485444 0.6618123 0.004854321 0.3381877 0.3284789 0.3381878 0.004854321 0.00485444 0.3284789 0.004854321 0.3284789 0.3284789 0.9951457 0.3284789 0.6715211 0.3284789 0.6715211 0.00485444 0.6618123 0.004854381 0.6618123 0.3284788 0.3381878 0.3284789 0.004854321 0.9951456 0.004854381 0.6715211 0.3284789 0.9951456 0.9951456 0.3381877 0.9951456 0.6618123 0.6715211 0.3381878 0.3284791 0.6618123 0.00485444 0.6618123 0.3284789 0.3381878 0.004854381 0.328479 0.004854321 0.00485444 0.3284789 0.3284789 0.9951457 0.004854321 0.9951457 0.3284789 0.6715211 0.00485444 0.3381877 0.004854321 0.6618123 0.004854381 0.3381878 0.3284789</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<polylist material="Material-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
|
||||
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
|
||||
</polylist>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_controllers/>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">2.999999 0 0 0 0 2.999999 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material-material" 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>
|
||||
16
box_target_red/model.config
Normal file
16
box_target_red/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Box target (red)</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A red box target that can be used to mark a location.
|
||||
</description>
|
||||
</model>
|
||||
24
box_target_red/model.sdf
Normal file
24
box_target_red/model.sdf
Normal file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="box_target_red">
|
||||
<pose>0 0 1 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>6 6 2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://box_target_red/meshes/mesh.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
5308
breakable_test/model-1_4.sdf
Normal file
5308
breakable_test/model-1_4.sdf
Normal file
File diff suppressed because it is too large
Load Diff
19
breakable_test/model.config
Normal file
19
breakable_test/model.config
Normal file
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Breakable Test</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Steve Peters</name>
|
||||
<email>scpeters@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Testing breakable wall panels. Note that model.sdf
|
||||
was generated from model.rsdf using ruby erb.
|
||||
`erb model.rsdf > model.sdf`
|
||||
</description>
|
||||
</model>
|
||||
79
breakable_test/model.rsdf
Normal file
79
breakable_test/model.rsdf
Normal file
@@ -0,0 +1,79 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="breakable_test">
|
||||
<pose>0 0 1 0 0 0</pose>
|
||||
<%
|
||||
# Parameters
|
||||
# Aluminum 2700 kg/m^3
|
||||
density = 2700.0
|
||||
dx = 0.05
|
||||
dy = dx
|
||||
dz = dx
|
||||
mass = density * dx * dy * dz
|
||||
Lx = 0.5
|
||||
Lz = 0.5
|
||||
Nx = (Lx / dx).floor
|
||||
Nz = (Lz / dz).floor
|
||||
%>
|
||||
<%
|
||||
Nx.times do |xi|
|
||||
Nz.times do |zi|
|
||||
%>
|
||||
<%= "<link name=" + '"link_' + xi.to_s + '_' + zi.to_s + '">' %>
|
||||
<pose><%= xi*dx %> 0 <%= zi*dy %> 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass><%= mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= 1.0 / 12 * mass * (dy*dy + dz*dz) %></ixx>
|
||||
<iyy><%= 1.0 / 12 * mass * (dz*dz + dx*dx) %></iyy>
|
||||
<izz><%= 1.0 / 12 * mass * (dx*dx + dy*dy) %></izz>
|
||||
<ixy>0.0</ixy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size><%= dx %> <%= dy %> <%= dz %></size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size><%= dx %> <%= dy %> <%= dz %></size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<%= "<joint name=" + '"joint_' + xi.to_s + '_' + zi.to_s + '" type="revolute">' %>
|
||||
<parent>world</parent>
|
||||
<child>link_<%= xi %>_<%= zi %></child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0.0</lower>
|
||||
<upper>0.0</upper>
|
||||
</limit>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<erp>1</erp>
|
||||
<cfm>1</cfm>
|
||||
</ode>
|
||||
</physics>
|
||||
<sensor name="force_torque" type="force_torque">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>1000</update_rate>
|
||||
<plugin name="breakable_<%= xi %>_<%= zi %>" filename="libBreakableJointPlugin.so">
|
||||
<breaking_force_N>50</breaking_force_N>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</joint>
|
||||
<%
|
||||
end
|
||||
end
|
||||
%>
|
||||
</model>
|
||||
</sdf>
|
||||
5306
breakable_test/model.sdf
Normal file
5306
breakable_test/model.sdf
Normal file
File diff suppressed because it is too large
Load Diff
18
brick_box_3x1x3/materials/scripts/brick_box.material
Normal file
18
brick_box_3x1x3/materials/scripts/brick_box.material
Normal file
@@ -0,0 +1,18 @@
|
||||
material BrickBox/Diffuse
|
||||
{
|
||||
receive_shadows off
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture simple_box.png
|
||||
filtering anistropic
|
||||
max_anisotropy 16
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
brick_box_3x1x3/materials/textures/simple_box.png
Normal file
BIN
brick_box_3x1x3/materials/textures/simple_box.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.7 MiB |
174
brick_box_3x1x3/meshes/simple_box.dae
Normal file
174
brick_box_3x1x3/meshes/simple_box.dae
Normal file
@@ -0,0 +1,174 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
|
||||
<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
|
||||
<comments></comments>
|
||||
<copyright></copyright>
|
||||
<source_data>file:///u/nkoenig/plate_2.blend</source_data>
|
||||
</contributor>
|
||||
<created>2011-03-08T12:41:39.033566</created>
|
||||
<modified>2011-03-08T12:41:39.033583</modified>
|
||||
<unit meter="1.00" name="meter"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="plate_2_tga-fx" name="plate_2_tga-fx">
|
||||
<profile_COMMON>
|
||||
<newparam sid="plate_2_tga-surface">
|
||||
<surface type="2D">
|
||||
<init_from>plate_2_tga-img</init_from>
|
||||
<format>A8R8G8B8</format>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="plate_2_tga-sampler">
|
||||
<sampler2D>
|
||||
<source>plate_2_tga-surface</source>
|
||||
<minfilter>LINEAR_MIPMAP_LINEAR</minfilter>
|
||||
<magfilter>LINEAR</magfilter>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="blender">
|
||||
<phong>
|
||||
<emission>
|
||||
<color>0.30000 0.30000 0.30000 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<texture texcoord="CHANNEL1" texture="plate_2_tga-sampler"/>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>0.50000 0.50000 0.50000 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float>12.5</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float>0.0</float>
|
||||
</reflectivity>
|
||||
<transparent>
|
||||
<color>1 1 1 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>0.0</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="plate_2_tga-img" name="plate_2_tga-img">
|
||||
<init_from>../materials/textures/simple_box.png</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="plate_2_tga" name="plate_2_tga">
|
||||
<instance_effect url="#plate_2_tga-fx"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Mesh-Geometry" name="Mesh-Geometry">
|
||||
<mesh>
|
||||
<source id="Mesh-Geometry-Position">
|
||||
<float_array count="24" id="Mesh-Geometry-Position-array">0.5000 0.5000 -0.5000 0.5000 -0.5000 -0.5000 -0.5000 -0.5000 -0.5000 -0.5000 0.5000 -0.5000 0.5000 0.5000 0.5000 0.5000 -0.5000 0.5000 -0.5000 -0.5000 0.5000 -0.5000 0.5000 0.5000</float_array>
|
||||
<technique_common>
|
||||
<accessor count="8" source="#Mesh-Geometry-Position-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Mesh-Geometry-Normals">
|
||||
<float_array count="18" id="Mesh-Geometry-Normals-array">0.00000 0.00000 -1.00000 0.00000 0.00000 1.00000 1.00000 -0.00000 0.00000 -0.00000 -1.00000 -0.00000 -1.00000 0.00000 -0.00000 0.00000 1.00000 0.00000</float_array>
|
||||
<technique_common>
|
||||
<accessor count="6" source="#Mesh-Geometry-Normals-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Mesh-Geometry-UV">
|
||||
<float_array count="72" id="Mesh-Geometry-UV-array">0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 1.0 1.0 0.0 0.0 1.0 1.0 1.0 0.0</float_array>
|
||||
<technique_common>
|
||||
<accessor count="36" source="#Mesh-Geometry-UV-array" stride="2">
|
||||
<param type="float" name="S"></param>
|
||||
<param type="float" name="T"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Mesh-Geometry-Vertex">
|
||||
<input semantic="POSITION" source="#Mesh-Geometry-Position"/>
|
||||
</vertices>
|
||||
<triangles count="12" material="plate_2_tga">
|
||||
<input offset="0" semantic="VERTEX" source="#Mesh-Geometry-Vertex"/>
|
||||
<input offset="1" semantic="NORMAL" source="#Mesh-Geometry-Normals"/>
|
||||
<input offset="2" semantic="TEXCOORD" source="#Mesh-Geometry-UV"/>
|
||||
<p>0 0 0 1 0 1 2 0 2 2 0 4 3 0 5 0 0 3 4 1 0 7 1 1 6 1 2 6 1 4 5 1 5 4 1 3 0 2 0 4 2 1 5 2 2 5 2 4 1 2 5 0 2 3 1 3 0 5 3 1 6 3 2 6 3 4 2 3 5 1 3 3 2 4 0 6 4 1 7 4 2 7 4 4 3 4 5 2 4 3 4 5 0 0 5 1 3 5 2 3 5 4 7 5 5 4 5 3</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene001" name="Scene001">
|
||||
<node layer="L1" id="Mesh" name="Mesh">
|
||||
<translate sid="translate">0.00000 0.00000 0.00000</translate>
|
||||
<rotate sid="rotateZ">0 0 1 -0.00001</rotate>
|
||||
<rotate sid="rotateY">0 1 0 -0.00000</rotate>
|
||||
<rotate sid="rotateX">1 0 0 0.00000</rotate>
|
||||
<scale sid="scale">1.00000 1.00000 1.00000</scale>
|
||||
<instance_geometry url="#Mesh-Geometry">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="plate_2_tga" target="#plate_2_tga">
|
||||
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<library_physics_materials>
|
||||
<physics_material id="Mesh-PhysicsMaterial" name="Mesh-PhysicsMaterial">
|
||||
<technique_common>
|
||||
<dynamic_friction>0.5</dynamic_friction>
|
||||
<restitution>0.0</restitution>
|
||||
<static_friction>0.5</static_friction>
|
||||
</technique_common>
|
||||
</physics_material>
|
||||
</library_physics_materials>
|
||||
<library_physics_models>
|
||||
<physics_model id="Scene001-PhysicsModel" name="Scene001-PhysicsModel">
|
||||
<rigid_body name="Mesh-RigidBody" sid="Mesh-RigidBody">
|
||||
<technique_common>
|
||||
<dynamic>false</dynamic>
|
||||
<mass>0</mass>
|
||||
<instance_physics_material url="#Mesh-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<instance_geometry url="#Mesh-Geometry"/>
|
||||
</shape>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
</library_physics_models>
|
||||
<library_physics_scenes>
|
||||
<physics_scene id="Scene001-Physics" name="Scene001-Physics">
|
||||
<instance_physics_model url="#Scene001-PhysicsModel">
|
||||
<instance_rigid_body body="Mesh-RigidBody" target="#Mesh"/>
|
||||
</instance_physics_model>
|
||||
</physics_scene>
|
||||
</library_physics_scenes>
|
||||
<scene>
|
||||
<instance_physics_scene url="#Scene001-Physics"/>
|
||||
<instance_visual_scene url="#Scene001"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
31
brick_box_3x1x3/model-1_3.sdf
Normal file
31
brick_box_3x1x3/model-1_3.sdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<model name="brick_box_3x1x3">
|
||||
<static>true</static>
|
||||
<link name="chassis">
|
||||
<pose>0 0 1.5 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.0 1.0 3.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
|
||||
<scale>3.0 1.0 3.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://brick_box_3x1x3/materials/scripts</uri>
|
||||
<uri>model://brick_box_3x1x3/materials/textures</uri>
|
||||
<name>BrickBox/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
31
brick_box_3x1x3/model-1_4.sdf
Normal file
31
brick_box_3x1x3/model-1_4.sdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="brick_box_3x1x3">
|
||||
<static>true</static>
|
||||
<link name="chassis">
|
||||
<pose>0 0 1.5 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.0 1.0 3.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
|
||||
<scale>3.0 1.0 3.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://brick_box_3x1x3/materials/scripts</uri>
|
||||
<uri>model://brick_box_3x1x3/materials/textures</uri>
|
||||
<name>BrickBox/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
16
brick_box_3x1x3/model.config
Normal file
16
brick_box_3x1x3/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Brick Box 3x1x3</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<description>
|
||||
Brick Box 3x1x3
|
||||
</description>
|
||||
|
||||
</model>
|
||||
|
||||
31
brick_box_3x1x3/model.sdf
Normal file
31
brick_box_3x1x3/model.sdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="brick_box_3x1x3">
|
||||
<static>true</static>
|
||||
<link name="chassis">
|
||||
<pose>0 0 1.5 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.0 1.0 3.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
|
||||
<scale>3.0 1.0 3.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://brick_box_3x1x3/materials/scripts</uri>
|
||||
<uri>model://brick_box_3x1x3/materials/textures</uri>
|
||||
<name>BrickBox/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
bus/materials/textures/bus.png
Executable file
BIN
bus/materials/textures/bus.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 398 KiB |
30
bus/meshes/bus.mtl
Executable file
30
bus/meshes/bus.mtl
Executable file
@@ -0,0 +1,30 @@
|
||||
# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
|
||||
# File Created: 06.11.2016 10:58:28
|
||||
|
||||
newmtl Bus
|
||||
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 bus.png
|
||||
map_Kd bus.png
|
||||
|
||||
newmtl Wheels_01
|
||||
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
|
||||
3039
bus/meshes/bus.obj
Executable file
3039
bus/meshes/bus.obj
Executable file
File diff suppressed because it is too large
Load Diff
23
bus/model.config
Normal file
23
bus/model.config
Normal file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Bus</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>
|
||||
A bus
|
||||
</description>
|
||||
</model>
|
||||
24
bus/model.sdf
Normal file
24
bus/model.sdf
Normal file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="bus">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.01 0.01 0.01</scale>
|
||||
<uri>model://bus/meshes/bus.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.01 0.01 0.01</scale>
|
||||
<uri>model://bus/meshes/bus.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
29
bus_stop/materials/scripts/bus_stop.material
Normal file
29
bus_stop/materials/scripts/bus_stop.material
Normal file
@@ -0,0 +1,29 @@
|
||||
material bus/station
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
|
||||
texture_unit
|
||||
{
|
||||
texture pic.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material bus/tag
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
|
||||
texture_unit
|
||||
{
|
||||
texture bus.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
bus_stop/materials/textures/bus.png
Executable file
BIN
bus_stop/materials/textures/bus.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 8.4 KiB |
BIN
bus_stop/materials/textures/pic.png
Executable file
BIN
bus_stop/materials/textures/pic.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
BIN
bus_stop/meshes/Glass_Frosted_001_basecolor.jpg
Executable file
BIN
bus_stop/meshes/Glass_Frosted_001_basecolor.jpg
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 6.5 KiB |
BIN
bus_stop/meshes/Metal046A_4K_Color.png
Executable file
BIN
bus_stop/meshes/Metal046A_4K_Color.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 11 MiB |
BIN
bus_stop/meshes/Wood066_4K_Color.png
Executable file
BIN
bus_stop/meshes/Wood066_4K_Color.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 26 MiB |
115
bus_stop/meshes/base_link.dae
Executable file
115
bus_stop/meshes/base_link.dae
Executable file
File diff suppressed because one or more lines are too long
185
bus_stop/meshes/bench.dae
Executable file
185
bus_stop/meshes/bench.dae
Executable file
@@ -0,0 +1,185 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936</authoring_tool>
|
||||
</contributor>
|
||||
<created>2022-12-09T11:55:21</created>
|
||||
<modified>2022-12-09T11:55:21</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_cameras>
|
||||
<camera id="Camera-camera" name="Camera">
|
||||
<optics>
|
||||
<technique_common>
|
||||
<perspective>
|
||||
<xfov sid="xfov">39.59775</xfov>
|
||||
<aspect_ratio>1.777778</aspect_ratio>
|
||||
<znear sid="znear">0.1</znear>
|
||||
<zfar sid="zfar">100</zfar>
|
||||
</perspective>
|
||||
</technique_common>
|
||||
</optics>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<shiftx sid="shiftx" type="float">0</shiftx>
|
||||
<shifty sid="shifty" type="float">0</shifty>
|
||||
<dof_distance sid="dof_distance" type="float">10</dof_distance>
|
||||
</technique>
|
||||
</extra>
|
||||
</camera>
|
||||
</library_cameras>
|
||||
<library_lights>
|
||||
<light id="Light-light" name="Light">
|
||||
<technique_common>
|
||||
<directional>
|
||||
<color sid="color">1000 1000 1000</color>
|
||||
</directional>
|
||||
</technique_common>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<type sid="type" type="int">1</type>
|
||||
<flag sid="flag" type="int">0</flag>
|
||||
<mode sid="mode" type="int">1</mode>
|
||||
<gamma sid="blender_gamma" type="float">1</gamma>
|
||||
<red sid="red" type="float">1</red>
|
||||
<green sid="green" type="float">1</green>
|
||||
<blue sid="blue" type="float">1</blue>
|
||||
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
|
||||
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
|
||||
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
|
||||
<energy sid="blender_energy" type="float">1000</energy>
|
||||
<dist sid="blender_dist" type="float">29.99998</dist>
|
||||
<spotsize sid="spotsize" type="float">75</spotsize>
|
||||
<spotblend sid="spotblend" type="float">0.15</spotblend>
|
||||
<att1 sid="att1" type="float">0</att1>
|
||||
<att2 sid="att2" type="float">1</att2>
|
||||
<falloff_type sid="falloff_type" type="int">2</falloff_type>
|
||||
<clipsta sid="clipsta" type="float">0.04999995</clipsta>
|
||||
<clipend sid="clipend" type="float">30.002</clipend>
|
||||
<bias sid="bias" type="float">1</bias>
|
||||
<soft sid="soft" type="float">3</soft>
|
||||
<bufsize sid="bufsize" type="int">2880</bufsize>
|
||||
<samp sid="samp" type="int">3</samp>
|
||||
<buffers sid="buffers" type="int">1</buffers>
|
||||
<area_shape sid="area_shape" type="int">1</area_shape>
|
||||
<area_size sid="area_size" type="float">0.1</area_size>
|
||||
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
|
||||
<area_sizez sid="area_sizez" type="float">1</area_sizez>
|
||||
</technique>
|
||||
</extra>
|
||||
</light>
|
||||
</library_lights>
|
||||
<library_effects>
|
||||
<effect id="wood-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="Wood066_4K_Color_png-surface">
|
||||
<surface type="2D">
|
||||
<init_from>Wood066_4K_Color_png</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="Wood066_4K_Color_png-sampler">
|
||||
<sampler2D>
|
||||
<source>Wood066_4K_Color_png-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<texture texture="Wood066_4K_Color_png-sampler" texcoord="UVMap"/>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.55</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="Wood066_4K_Color_png" name="Wood066_4K_Color_png">
|
||||
<init_from>Wood066_4K_Color.png</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="wood-material" name="wood">
|
||||
<instance_effect url="#wood-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="bench-mesh" name="bench">
|
||||
<mesh>
|
||||
<source id="bench-mesh-positions">
|
||||
<float_array id="bench-mesh-positions-array" count="24">0.8 0.03999996 -0.15 0.8 0.03999996 0.15 0.8 0 -0.15 0.8 0 0.15 -0.8 0.03999996 -0.15 -0.8 0 -0.15 -0.8 0.03999996 0.15 -0.8 0 0.15</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#bench-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="bench-mesh-normals">
|
||||
<float_array id="bench-mesh-normals-array" count="18">1 0 0 0 0 -1 -1 0 0 0 0 1 0 1 0 0 -1 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#bench-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="bench-mesh-map-0">
|
||||
<float_array id="bench-mesh-map-0-array" count="72">0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#bench-mesh-map-0-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="bench-mesh-vertices">
|
||||
<input semantic="POSITION" source="#bench-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="wood-material" count="12">
|
||||
<input semantic="VERTEX" source="#bench-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#bench-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#bench-mesh-map-0" offset="2" set="0"/>
|
||||
<p>0 0 0 1 0 1 2 0 2 2 0 3 1 0 4 3 0 5 4 1 6 0 1 7 5 1 8 5 1 9 0 1 10 2 1 11 6 2 12 4 2 13 7 2 14 7 2 15 4 2 16 5 2 17 1 3 18 6 3 19 3 3 20 3 3 21 6 3 22 7 3 23 4 4 24 6 4 25 0 4 26 0 4 27 6 4 28 1 4 29 7 5 30 5 5 31 3 5 32 3 5 33 5 5 34 2 5 35</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="bench" name="bench" type="NODE">
|
||||
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#bench-mesh" name="bench">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="wood-material" target="#wood-material">
|
||||
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
<node id="Camera" name="Camera" type="NODE">
|
||||
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
|
||||
<instance_camera url="#Camera-camera"/>
|
||||
</node>
|
||||
<node id="Light" name="Light" type="NODE">
|
||||
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
|
||||
<instance_light url="#Light-light"/>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
BIN
bus_stop/meshes/glass.STL
Executable file
BIN
bus_stop/meshes/glass.STL
Executable file
Binary file not shown.
115
bus_stop/meshes/head.dae
Executable file
115
bus_stop/meshes/head.dae
Executable file
@@ -0,0 +1,115 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936</authoring_tool>
|
||||
</contributor>
|
||||
<created>2022-12-09T12:35:39</created>
|
||||
<modified>2022-12-09T12:35:39</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="plastic-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="Glass_Frosted_001_basecolor_jpg-surface">
|
||||
<surface type="2D">
|
||||
<init_from>Glass_Frosted_001_basecolor_jpg</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="Glass_Frosted_001_basecolor_jpg-sampler">
|
||||
<sampler2D>
|
||||
<source>Glass_Frosted_001_basecolor_jpg-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<texture texture="Glass_Frosted_001_basecolor_jpg-sampler" texcoord="UVMap"/>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="Glass_Frosted_001_basecolor_jpg" name="Glass_Frosted_001_basecolor_jpg">
|
||||
<init_from>Glass_Frosted_001_basecolor.jpg</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="plastic-material" name="plastic">
|
||||
<instance_effect url="#plastic-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="head-mesh" name="head">
|
||||
<mesh>
|
||||
<source id="head-mesh-positions">
|
||||
<float_array id="head-mesh-positions-array" count="216">-1.5 0 0.8 -1.5 0.00999999 0.8 -1.5 0 0.75 -1.5 0.00999999 0.759898 -1.5 0.1250759 0.733596 -1.5 0.1278562 0.7431275 -1.5 0.2446806 0.6851015 -1.5 0.2483877 0.6941774 -1.5 0.3535819 0.6066378 -1.5 0.3581963 0.6152597 -1.5 0.4470161 0.5016373 -1.5 0.4525415 0.5097811 -1.5 0.520896 0.3746932 -1.5 0.5273505 0.3822953 -1.5 0.5719898 0.2313585 -1.5 0.5793937 0.2383058 -1.5 0.5980624 0.07790321 -1.5 0.6064245 0.08402854 -1.5 0.5979733 -0.07895988 -1.5 0.6072758 -0.07387614 -1.5 0.5717265 -0.232369 -1.5 0.581911 -0.2285916 -1.5 0.5204699 -0.3756133 -1.5 0.5314251 -0.3734388 -1.5 0.4464459 -0.5024268 -1.5 0.4579976 -0.5021646 -1.5 0.3528925 -0.607262 -1.5 0.3647983 -0.6092119 -1.5 0.2439022 -0.6855331 -1.5 0.2558506 -0.6899595 -1.5 0.1242426 -0.7338163 -1.5 0.1358578 -0.7409216 -1.5 0 -0.75 -1.5 0.00999999 -0.759898 -1.5 0 -0.8 -1.5 0.00999999 -0.8 1.5 0.00999999 0.8 1.5 0 0.8 1.5 0 -0.8 1.5 0.00999999 -0.8 1.5 0 -0.75 1.5 0.00999999 -0.759898 1.5 0.1242426 -0.7338163 1.5 0.1358578 -0.7409216 1.5 0.2439022 -0.6855331 1.5 0.2558506 -0.6899595 1.5 0.3528925 -0.607262 1.5 0.3647983 -0.6092119 1.5 0.4464459 -0.5024268 1.5 0.4579976 -0.5021646 1.5 0.5204699 -0.3756133 1.5 0.5314251 -0.3734388 1.5 0.5717265 -0.232369 1.5 0.581911 -0.2285916 1.5 0.5979733 -0.07895988 1.5 0.6072758 -0.07387614 1.5 0.5980624 0.07790321 1.5 0.6064245 0.08402854 1.5 0.5719898 0.2313585 1.5 0.5793937 0.2383058 1.5 0.520896 0.3746932 1.5 0.5273505 0.3822953 1.5 0.4470161 0.5016373 1.5 0.4525415 0.5097811 1.5 0.3535819 0.6066378 1.5 0.3581963 0.6152597 1.5 0.2446806 0.6851015 1.5 0.2483877 0.6941774 1.5 0.1250759 0.733596 1.5 0.1278562 0.7431275 1.5 0 0.75 1.5 0.00999999 0.759898</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#head-mesh-positions-array" count="72" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="head-mesh-normals">
|
||||
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|
||||
<technique_common>
|
||||
<accessor source="#head-mesh-normals-array" count="62" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="head-mesh-map-0">
|
||||
<float_array id="head-mesh-map-0-array" count="840">0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#head-mesh-map-0-array" count="420" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="head-mesh-vertices">
|
||||
<input semantic="POSITION" source="#head-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="plastic-material" count="140">
|
||||
<input semantic="VERTEX" source="#head-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#head-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#head-mesh-map-0" offset="2" set="0"/>
|
||||
<p>0 0 0 1 0 1 2 0 2 2 0 3 1 0 4 3 0 5 2 0 6 3 0 7 4 0 8 4 0 9 3 0 10 5 0 11 4 0 12 5 0 13 6 0 14 6 0 15 5 0 16 7 0 17 6 0 18 7 0 19 8 0 20 8 0 21 7 0 22 9 0 23 8 0 24 9 0 25 10 0 26 10 0 27 9 0 28 11 0 29 10 0 30 11 0 31 12 0 32 12 0 33 11 0 34 13 0 35 12 0 36 13 0 37 14 0 38 14 0 39 13 0 40 15 0 41 14 0 42 15 0 43 16 0 44 16 0 45 15 0 46 17 0 47 16 0 48 17 0 49 18 0 50 18 0 51 17 0 52 19 0 53 18 1 54 19 1 55 20 1 56 20 0 57 19 0 58 21 0 59 20 0 60 21 0 61 22 0 62 22 0 63 21 0 64 23 0 65 22 0 66 23 0 67 24 0 68 24 0 69 23 0 70 25 0 71 24 0 72 25 0 73 26 0 74 26 0 75 25 0 76 27 0 77 26 0 78 27 0 79 28 0 80 28 0 81 27 0 82 29 0 83 28 0 84 29 0 85 30 0 86 30 0 87 29 0 88 31 0 89 30 0 90 31 0 91 32 0 92 32 0 93 31 0 94 33 0 95 32 0 96 33 0 97 34 0 98 34 0 99 33 0 100 35 0 101 36 2 102 1 2 103 37 2 104 37 2 105 1 2 106 0 2 107 38 3 108 39 3 109 40 3 110 40 3 111 39 3 112 41 3 113 40 3 114 41 3 115 42 3 116 42 3 117 41 3 118 43 3 119 42 3 120 43 3 121 44 3 122 44 3 123 43 3 124 45 3 125 44 3 126 45 3 127 46 3 128 46 3 129 45 3 130 47 3 131 46 3 132 47 3 133 48 3 134 48 3 135 47 3 136 49 3 137 48 3 138 49 3 139 50 3 140 50 3 141 49 3 142 51 3 143 50 3 144 51 3 145 52 3 146 52 3 147 51 3 148 53 3 149 52 3 150 53 3 151 54 3 152 54 4 153 53 4 154 55 4 155 54 5 156 55 5 157 56 5 158 56 6 159 55 6 160 57 6 161 56 3 162 57 3 163 58 3 164 58 3 165 57 3 166 59 3 167 58 3 168 59 3 169 60 3 170 60 3 171 59 3 172 61 3 173 60 3 174 61 3 175 62 3 176 62 3 177 61 3 178 63 3 179 62 3 180 63 3 181 64 3 182 64 3 183 63 3 184 65 3 185 64 3 186 65 3 187 66 3 188 66 3 189 65 3 190 67 3 191 66 3 192 67 3 193 68 3 194 68 3 195 67 3 196 69 3 197 68 3 198 69 3 199 70 3 200 70 3 201 69 3 202 71 3 203 70 3 204 71 3 205 37 3 206 37 3 207 71 3 208 36 3 209 1 7 210 36 7 211 3 7 212 3 7 213 36 7 214 71 7 215 2 8 216 70 8 217 0 8 218 0 8 219 70 8 220 37 8 221 32 9 222 40 9 223 42 9 224 32 9 225 42 9 226 30 9 227 30 10 228 42 10 229 44 10 230 30 11 231 44 11 232 28 11 233 28 12 234 44 12 235 46 12 236 28 13 237 46 13 238 26 13 239 26 14 240 46 14 241 48 14 242 26 15 243 48 15 244 24 15 245 24 16 246 48 16 247 50 16 248 24 17 249 50 17 250 22 17 251 22 18 252 50 18 253 52 18 254 22 19 255 52 19 256 20 19 257 20 20 258 52 20 259 54 20 260 20 21 261 54 21 262 18 21 263 18 22 264 54 22 265 56 22 266 18 23 267 56 23 268 16 23 269 16 24 270 56 24 271 58 24 272 16 25 273 58 25 274 14 25 275 14 26 276 58 26 277 60 26 278 14 27 279 60 27 280 12 27 281 12 28 282 60 28 283 62 28 284 12 29 285 62 29 286 10 29 287 10 30 288 62 30 289 64 30 290 10 31 291 64 31 292 8 31 293 8 32 294 64 32 295 66 32 296 8 32 297 66 32 298 6 32 299 6 33 300 66 33 301 68 33 302 6 33 303 68 33 304 4 33 305 4 34 306 68 34 307 70 34 308 4 34 309 70 34 310 2 34 311 3 35 312 71 35 313 69 35 314 3 36 315 69 36 316 5 36 317 5 37 318 69 37 319 67 37 320 5 38 321 67 38 322 7 38 323 7 39 324 67 39 325 65 39 326 7 40 327 65 40 328 9 40 329 9 41 330 65 41 331 63 41 332 9 42 333 63 42 334 11 42 335 11 43 336 63 43 337 61 43 338 11 43 339 61 43 340 13 43 341 13 44 342 61 44 343 59 44 344 13 45 345 59 45 346 15 45 347 15 46 348 59 46 349 57 46 350 15 47 351 57 47 352 17 47 353 17 48 354 57 48 355 55 48 356 17 49 357 55 49 358 19 49 359 19 50 360 55 50 361 53 50 362 19 50 363 53 50 364 21 50 365 21 51 366 53 51 367 51 51 368 21 52 369 51 52 370 23 52 371 23 53 372 51 53 373 49 53 374 23 54 375 49 54 376 25 54 377 25 55 378 49 55 379 47 55 380 25 56 381 47 56 382 27 56 383 27 57 384 47 57 385 45 57 386 27 57 387 45 57 388 29 57 389 29 58 390 45 58 391 43 58 392 29 59 393 43 59 394 31 59 395 31 60 396 43 60 397 41 60 398 31 60 399 41 60 400 33 60 401 38 8 402 40 8 403 34 8 404 34 8 405 40 8 406 32 8 407 35 61 408 39 61 409 34 61 410 34 61 411 39 61 412 38 61 413 41 7 414 39 7 415 33 7 416 33 7 417 39 7 418 35 7 419</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="head" name="head" type="NODE">
|
||||
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#head-mesh" name="head">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="plastic-material" target="#plastic-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>
|
||||
115
bus_stop/meshes/round.dae
Executable file
115
bus_stop/meshes/round.dae
Executable file
File diff suppressed because one or more lines are too long
16
bus_stop/model.config
Normal file
16
bus_stop/model.config
Normal file
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>bus_stop</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.0'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hossein Rezaeifar</name>
|
||||
<email>h90.rezaeifar@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A Bus stop
|
||||
</description>
|
||||
</model>
|
||||
269
bus_stop/model.sdf
Normal file
269
bus_stop/model.sdf
Normal file
@@ -0,0 +1,269 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.7'>
|
||||
<model name='bus_stop'>
|
||||
<link name='base_link'>
|
||||
<inertial>
|
||||
<pose>-0.028945 0.578968 0.865497 0 -0 0</pose>
|
||||
<mass>599.322</mass>
|
||||
<inertia>
|
||||
<ixx>1541.97</ixx>
|
||||
<ixy>-12.6703</ixy>
|
||||
<ixz>1.60713</ixz>
|
||||
<iyy>1635.91</iyy>
|
||||
<iyz>370.745</iyz>
|
||||
<izz>1773.29</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_collision'>
|
||||
<pose>0 0 0.12 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/base_link.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__bench_collision_1'>
|
||||
<pose>-0.68039 -0.585 0.76 -1.5708 0 -3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/bench.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__board_collision_2'>
|
||||
<pose>-1.5 -0.022169 2.9407 -1.5708 -0 -1.5708</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.82 0.266 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__glass1_collision_3'>
|
||||
<pose>1.49 -0.005 1.34 -3.14159 -0 1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__glass2_collision_4'>
|
||||
<pose>0.755 -0.76 1.34 3.14159 -0 -3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__glass3_collision_5'>
|
||||
<pose>-0.745 -0.74 1.34 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__glass4_collision_6'>
|
||||
<pose>-1.49 -0.005 1.34 -3.14159 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__head_collision_7'>
|
||||
<pose>0 0 2.64 1.5708 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/head.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__round1_collision_8'>
|
||||
<pose>1.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__round2_collision_9'>
|
||||
<pose>0.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__round3_collision_10'>
|
||||
<pose>-0.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__round4_collision_11'>
|
||||
<pose>-1.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='base_link_fixed_joint_lump__tag_collision_12'>
|
||||
<pose>-1.73 0 2.69 -1.5708 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.39 0.087 .002</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='base_link_visual'>
|
||||
<pose>0 0 0.12 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/base_link.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__bench_visual_1'>
|
||||
<pose>-0.68039 -0.585 0.76 -1.5708 0 -3.14159</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/bench.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__board_visual_2'>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<pose>-1.5 -0.022169 2.9407 -1.5708 -0 -1.5708</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.82 0.266 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://bus_stop/materials/scripts</uri>
|
||||
<uri>model://bus_stop/materials/textures</uri>
|
||||
<name>bus/station</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__glass1_visual_3'>
|
||||
<pose>1.49 -0.005 1.34 -3.14159 -0 1.5708</pose>
|
||||
<transparency>0.7</transparency>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__glass2_visual_4'>
|
||||
<pose>0.755 -0.76 1.34 3.14159 -0 -3.14159</pose>
|
||||
<transparency>0.7</transparency>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__glass3_visual_5'>
|
||||
<pose>-0.745 -0.74 1.34 -3.14159 0 0</pose>
|
||||
<transparency>0.7</transparency>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__glass4_visual_6'>
|
||||
<pose>-1.49 -0.005 1.34 -3.14159 0 -1.5708</pose>
|
||||
<transparency>0.7</transparency>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/glass.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__head_visual_7'>
|
||||
<pose>0 0 2.64 1.5708 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/head.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__round1_visual_8'>
|
||||
<pose>1.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__round2_visual_9'>
|
||||
<pose>0.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__round3_visual_10'>
|
||||
<pose>-0.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__round4_visual_11'>
|
||||
<pose>-1.5 0 2.64 1.57079 7e-06 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://bus_stop/meshes/round.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='base_link_fixed_joint_lump__tag_visual_12'>
|
||||
<pose>-1.73 0 2.69 -1.5708 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.39 0.087 .002</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://bus_stop/materials/scripts</uri>
|
||||
<uri>model://bus_stop/materials/textures</uri>
|
||||
<name>bus/tag</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
152
cabinet/model-1_2.sdf
Normal file
152
cabinet/model-1_2.sdf
Normal file
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="cabinet">
|
||||
<static>true</static>
|
||||
<link name="cabinet_bottom_plate">
|
||||
<inertial>
|
||||
<pose>0 0 -1 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>2.050000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>2.050000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>2.050000</izz>
|
||||
</inertia>
|
||||
<mass>25.000000</mass>
|
||||
</inertial>
|
||||
<collision name="cabinet_bottom_plate_geom">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_visual">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
152
cabinet/model-1_3.sdf
Normal file
152
cabinet/model-1_3.sdf
Normal file
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<model name="cabinet">
|
||||
<static>true</static>
|
||||
<link name="cabinet_bottom_plate">
|
||||
<inertial>
|
||||
<pose>0 0 -1 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>2.050000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>2.050000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>2.050000</izz>
|
||||
</inertia>
|
||||
<mass>25.000000</mass>
|
||||
</inertial>
|
||||
<collision name="cabinet_bottom_plate_geom">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_visual">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
152
cabinet/model-1_4.sdf
Normal file
152
cabinet/model-1_4.sdf
Normal file
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="cabinet">
|
||||
<static>true</static>
|
||||
<link name="cabinet_bottom_plate">
|
||||
<inertial>
|
||||
<pose>0 0 -1 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>2.050000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>2.050000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>2.050000</izz>
|
||||
</inertia>
|
||||
<mass>25.000000</mass>
|
||||
</inertial>
|
||||
<collision name="cabinet_bottom_plate_geom">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_visual">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
19
cabinet/model.config
Normal file
19
cabinet/model.config
Normal file
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Cabinet</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>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A wooden cabinet.
|
||||
</description>
|
||||
</model>
|
||||
152
cabinet/model.sdf
Normal file
152
cabinet/model.sdf
Normal file
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="cabinet">
|
||||
<static>true</static>
|
||||
<link name="cabinet_bottom_plate">
|
||||
<inertial>
|
||||
<pose>0 0 -1 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>2.050000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>2.050000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>2.050000</izz>
|
||||
</inertia>
|
||||
<mass>25.000000</mass>
|
||||
</inertial>
|
||||
<collision name="cabinet_bottom_plate_geom">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_visual">
|
||||
<pose>0 0 0.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
|
||||
<pose>0.235000 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.020000 0.450000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
|
||||
<pose>0 0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
|
||||
<pose>0 0 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
|
||||
<pose>0 -0.235000 0.510000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.020000 1.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
|
||||
<pose>0 0 1.010000 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.450000 0.450000 0.020000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
cafe/materials/textures/__auto_10.jpg
Normal file
BIN
cafe/materials/textures/__auto_10.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.8 KiB |
BIN
cafe/materials/textures/__auto_2.jpg
Normal file
BIN
cafe/materials/textures/__auto_2.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.8 KiB |
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user