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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| material ArmPart/Diffuse | ||
| { | ||
| receive_shadows off | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture parts.png | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| material Beer/Diffuse | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture beer.png | ||
| filtering anistropic | ||
| max_anisotropy 16 | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| material @HERE@ | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture optimized_tsdf_texture_mapped_mesh.png | ||
| } | ||
| } | ||
| } | ||
| } |
Binary file added
BIN
+373 KB
models/biscuits/materials/textures/optimized_tsdf_texture_mapped_mesh.png
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <model> | ||
| <name>biscuits</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.0">model.sdf</sdf> | ||
|
|
||
| <description> | ||
| A model of a packet of biscuits | ||
| </description> | ||
|
|
||
| <depend> | ||
| </depend> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
|
|
||
| <?xml version="1.0" ?> | ||
| <sdf version="1.4"> | ||
| <model name="biscuits"> | ||
| <link name="biscuits_link"> | ||
| <inertial> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <mass>0.08</mass> | ||
| </inertial> | ||
|
|
||
| <visual name="biscuits_visual"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <material> | ||
| <script> | ||
| <uri>model://biscuits/materials/scripts</uri> | ||
| <uri>model://biscuits/materials/textures</uri> | ||
| <name>biscuits</name> | ||
| </script> | ||
| </material> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://biscuits/meshes/biscuits.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
|
|
||
|
|
||
| <collision name="biscuits_collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://biscuits/meshes/biscuits.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>0.8</mu> | ||
| <mu2>0.8</mu2> | ||
| <fdir1>0.0 0.0 0.0</fdir1> | ||
| <slip1>0.01</slip1> | ||
| <slip2>0.01</slip2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
|
|
||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| material @HERE@ | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture optimized_tsdf_texture_mapped_mesh.png | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <model> | ||
| <name>book</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.0">model.sdf</sdf> | ||
|
|
||
| <description> | ||
| A model of a book | ||
| </description> | ||
|
|
||
| <depend> | ||
| </depend> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
|
|
||
| <?xml version="1.0" ?> | ||
| <sdf version="1.4"> | ||
| <model name="book"> | ||
| <link name="book_link"> | ||
| <inertial> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <mass>0.08</mass> | ||
| </inertial> | ||
|
|
||
| <visual name="book_visual"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <material> | ||
| <script> | ||
| <uri>model://book/materials/scripts</uri> | ||
| <uri>model://book/materials/textures</uri> | ||
| <name>book</name> | ||
| </script> | ||
| </material> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://book/meshes/book.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
|
|
||
|
|
||
| <collision name="book_collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>model://book/meshes/book.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>0.8</mu> | ||
| <mu2>0.8</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
|
|
||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
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