mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
merge with default
This commit is contained in:
Steve Peters
commit
988cad4400
@ -12,29 +12,10 @@ 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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#include (FindPkgConfig)
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#if (PKG_CONFIG_FOUND)
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# pkg_check_modules(GAZEBO gazebo)
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# pkg_check_modules(OGRE OGRE)
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# pkg_check_modules(CEGUI CEGUI)
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#endif()
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#
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#include_directories(
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# ${GAZEBO_INCLUDE_DIRS}
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# ${OGRE_INCLUDE_DIRS}
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# ${CEGUI_INCLUDE_DIRS}
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#)
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#
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#link_directories(
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# ${GAZEBO_LIBRARY_DIRS}
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# ${OGRE_LIBRARY_DIRS}
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# ${CEGUI_LIBRARY_DIRS}
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#)
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set (dirs
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bookshelf
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bowl
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brick_box_3x1x3
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cabinet
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camera
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coke_can
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@ -46,6 +27,7 @@ cube_20k
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double_pendulum_with_base
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dumpster
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fast_food
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fire_hose_long
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gas_station
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ground_plane
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hammer
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@ -68,6 +50,7 @@ nist_simple_ramp_120
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nist_stairs_120
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office_building
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pioneer2dx
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pioneer3at
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polaris_ranger_ev
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powerplant
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pr2
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@ -77,8 +60,8 @@ simple_arm
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simple_arm_gripper
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simple_gripper
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speed_limit_sign
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stereo_camera
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starting_pen
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stereo_camera
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stop_sign
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sun
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table
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@ -116,4 +99,3 @@ message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/models")
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# This must always be last!
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include(CPack)
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@ -1,17 +0,0 @@
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<?xml version="1.0"?>
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<model>
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<name>Bookshelf</name>
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<version>1.0</version>
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<sdf version='1.2'>model.sdf</sdf>
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<sdf version='1.3'>model-1_3.sdf</sdf>
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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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<description>
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A wooden bookshelf.
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</description>
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</model>
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165
bookshelf/model-1_2.sdf
Normal file
165
bookshelf/model-1_2.sdf
Normal file
@ -0,0 +1,165 @@
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="bookshelf">
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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</inertial>
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<collision name="back">
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<pose>0 0.005 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.01 1.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual1">
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<pose>0 0.005 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.01 1.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="left_side">
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<pose>0.45 -0.195 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.4 1.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual2">
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<pose>0.45 -0.195 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.4 1.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="right_side">
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<pose>-0.45 -0.195 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.4 1.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual3">
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<pose>-0.45 -0.195 0.6 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.4 1.2</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="bottom">
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<pose>0 -0.195 0.03 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.06</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual4">
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<pose>0 -0.195 0.03 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.06</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="top">
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<pose>0 -0.195 1.19 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual5">
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<pose>0 -0.195 1.19 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="low_shelf">
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<pose>0 -0.195 0.43 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual6">
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<pose>0 -0.195 0.43 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="high_shelf">
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<pose>0 -0.195 0.8 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual7">
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<pose>0 -0.195 0.8 0 0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</gazebo>
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@ -3,8 +3,9 @@
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<model>
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<name>Bookshelf</name>
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<version>1.0</version>
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<sdf version='1.2'>model.sdf</sdf>
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<sdf version='1.2'>model-1_2.sdf</sdf>
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<sdf version='1.3'>model-1_3.sdf</sdf>
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<sdf version='1.4'>model.sdf</sdf>
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<author>
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<name>Nate Koenig</name>
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@ -1,5 +1,5 @@
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<sdf version="1.4">
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<model name="bookshelf">
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<static>true</static>
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<link name="link">
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@ -162,4 +162,4 @@
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</visual>
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</link>
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</model>
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</gazebo>
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</sdf>
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@ -1,17 +0,0 @@
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<?xml version="1.0"?>
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<model>
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<name>Bowl</name>
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<version>1.0</version>
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<sdf version="1.2">model.sdf</sdf>
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<sdf version="1.3">model-1_3.sdf</sdf>
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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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<description>
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A simple bowl.
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</description>
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</model>
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25
bowl/model-1_2.sdf
Normal file
25
bowl/model-1_2.sdf
Normal file
@ -0,0 +1,25 @@
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="bowl">
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.098</radius>
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<length>0.035</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://bowl/meshes/bowl.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</gazebo>
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@ -3,8 +3,9 @@
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<model>
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<name>Bowl</name>
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<version>1.0</version>
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<sdf version="1.2">model.sdf</sdf>
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<sdf version="1.2">model-1_2.sdf</sdf>
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<sdf version="1.3">model-1_3.sdf</sdf>
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<sdf version="1.4">model.sdf</sdf>
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|
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<author>
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<name>Nate Koenig</name>
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@ -1,5 +1,5 @@
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||||
<?xml version="1.0" ?>
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||||
<gazebo version="1.2">
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<sdf version="1.4">
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<model name="bowl">
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<link name="link">
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<inertial>
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@ -22,4 +22,4 @@
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</visual>
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</link>
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</model>
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</gazebo>
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</sdf>
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|
||||
31
brick_box_3x1x3/model-1_3.sdf
Normal file
31
brick_box_3x1x3/model-1_3.sdf
Normal file
@ -0,0 +1,31 @@
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||||
<?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>
|
||||
@ -3,7 +3,8 @@
|
||||
<model>
|
||||
<name>Brick Box 3x1x3</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_4.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<description>
|
||||
Brick Box 3x1x3
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<sdf version="1.4">
|
||||
<model name="brick_box_3x1x3">
|
||||
<static>true</static>
|
||||
<link name="chassis">
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Cabinet</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.2'>model.sdf</sdf>
|
||||
<sdf version='1.3'>model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A wooden cabinet.
|
||||
</description>
|
||||
</model>
|
||||
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>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Cabinet</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.2'>model.sdf</sdf>
|
||||
<sdf version='1.2'>model-1_2.sdf</sdf>
|
||||
<sdf version='1.3'>model-1_3.sdf</sdf>
|
||||
<sdf version='1.4'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="cabinet">
|
||||
<static>true</static>
|
||||
<link name="cabinet_bottom_plate">
|
||||
@ -149,4 +149,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Camera</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A simple camera with a box for visualization.
|
||||
</description>
|
||||
</model>
|
||||
35
camera/model-1_2.sdf
Normal file
35
camera/model-1_2.sdf
Normal file
@ -0,0 +1,35 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="camera">
|
||||
<link name="link">
|
||||
<gravity>false</gravity>
|
||||
<pose>0.05 0.05 0.05 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.1 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
<sensor name="camera" type="camera">
|
||||
<camera>
|
||||
<horizontal_fov>1.047</horizontal_fov>
|
||||
<image>
|
||||
<width>320</width>
|
||||
<height>240</height>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.1</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>30</update_rate>
|
||||
<visualize>true</visualize>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Camera</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,12 +1,18 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="camera">
|
||||
<link name="link">
|
||||
<gravity>false</gravity>
|
||||
<pose>0.05 0.05 0.05 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.1 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
@ -32,4 +38,4 @@
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Coke Can</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A can of Coke.
|
||||
</description>
|
||||
</model>
|
||||
34
coke_can/model-1_2.sdf
Normal file
34
coke_can/model-1_2.sdf
Normal file
@ -0,0 +1,34 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="coke_can">
|
||||
<link name="link">
|
||||
<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">
|
||||
<pose>0 0 -0.46 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://coke_can/meshes/coke_can.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 -0.46 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://coke_can/meshes/coke_can.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Coke Can</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="coke_can">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
@ -31,4 +31,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
21
construction_barrel/model-1_3.sdf
Normal file
21
construction_barrel/model-1_3.sdf
Normal file
@ -0,0 +1,21 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<model name="Construction Barrel">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -3,7 +3,8 @@
|
||||
<model>
|
||||
<name>Construction Barrel</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<sdf version="1.4">
|
||||
<model name="Construction Barrel">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Cordless Drill</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A cordless drill..
|
||||
</description>
|
||||
</model>
|
||||
35
cordless_drill/model-1_2.sdf
Normal file
35
cordless_drill/model-1_2.sdf
Normal file
@ -0,0 +1,35 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="drill">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<pose>-0.00637 -0.008 0.13254 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.01331127</ixx>
|
||||
<ixy>-0.00030365</ixy>
|
||||
<ixz>-0.00034148</ixz>
|
||||
<iyy>0.01157659</iyy>
|
||||
<iyz>0.00088073</iyz>
|
||||
<izz>0.00378028</izz>
|
||||
</inertia>
|
||||
<mass>1.50251902</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0 -0.09 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 -0.09 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Cordless Drill</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="drill">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
@ -21,6 +21,13 @@
|
||||
<uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.1</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 -0.09 0 0 0</pose>
|
||||
@ -32,4 +39,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,20 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>iRobot Create</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of the iRobot Create.
|
||||
</description>
|
||||
|
||||
<depend>
|
||||
</depend>
|
||||
</model>
|
||||
296
create/model-1_2.sdf
Normal file
296
create/model-1_2.sdf
Normal file
@ -0,0 +1,296 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="create">
|
||||
|
||||
<link name="base">
|
||||
<inertial>
|
||||
<pose>0.001453 -0.000453 0.029787 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.058640</ixx>
|
||||
<ixy>0.000124</ixy>
|
||||
<ixz>0.000615</ixz>
|
||||
<iyy>0.058786</iyy>
|
||||
<iyz>0.000014</iyz>
|
||||
<izz>1.532440</izz>
|
||||
</inertia>
|
||||
<mass>2.234000</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>0 0 0.047800 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.016495</radius>
|
||||
<length>0.061163</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="base_visual">
|
||||
<pose>0 0 0.047800 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://create/meshes/create_body.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="front_wheel_collision">
|
||||
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.018000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0</mu>
|
||||
<mu2>0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="front_wheel_visual">
|
||||
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.009000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="rear_wheel_collision">
|
||||
<pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.015000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0</mu>
|
||||
<mu2>0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rear_wheel_visual">
|
||||
<pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.007500</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
|
||||
<sensor name="left_cliff_sensor" type="ray">
|
||||
<pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.010000</min>
|
||||
<max>0.040000</max>
|
||||
<resolution>0.100000</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
</sensor>
|
||||
|
||||
<sensor name="leftfront_cliff_sensor" type="ray">
|
||||
<pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.010000</min>
|
||||
<max>0.040000</max>
|
||||
<resolution>0.100000</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
</sensor>
|
||||
|
||||
<sensor name="right_cliff_sensor" type="ray">
|
||||
<pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.010000</min>
|
||||
<max>0.040000</max>
|
||||
<resolution>0.100000</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
</sensor>
|
||||
|
||||
<sensor name="rightfront_cliff_sensor" type="ray">
|
||||
<pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.010000</min>
|
||||
<max>0.040000</max>
|
||||
<resolution>0.100000</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
</sensor>
|
||||
|
||||
<sensor name="wall_sensor" type="ray">
|
||||
<pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.016000</min>
|
||||
<max>0.040000</max>
|
||||
<resolution>0.100000</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="left_wheel">
|
||||
<pose>0 0.130000 0.032000 0 0 0</pose>
|
||||
<inertial>
|
||||
<inertia>
|
||||
<ixx>0.001000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001000</izz>
|
||||
</inertia>
|
||||
<mass>0.010000</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0 0 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033000</radius>
|
||||
<length>0.023000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>10</mu>
|
||||
<mu2>10</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033000</radius>
|
||||
<length>0.023000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
<pose>0 -0.130000 0.032000 0 0 0</pose>
|
||||
<inertial>
|
||||
<inertia>
|
||||
<ixx>0.001000</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001000</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001000</izz>
|
||||
</inertia>
|
||||
<mass>0.010000</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0 0 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033000</radius>
|
||||
<length>0.023000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>10</mu>
|
||||
<mu2>10</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0 0 1.570700 1.570700</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033000</radius>
|
||||
<length>0.023000</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>iRobot Create</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="create">
|
||||
|
||||
<link name="base">
|
||||
@ -293,4 +293,4 @@
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Cube 20k</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Mihai Dhola</name>
|
||||
<email>mihai@</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A cube composed of 20,000 triangles. This is used for testing.
|
||||
</description>
|
||||
</model>
|
||||
24
cube_20k/model-1_2.sdf
Normal file
24
cube_20k/model-1_2.sdf
Normal file
@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="cube_20k">
|
||||
<link name="link">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://cube_20k/meshes/cube_20k.stl</uri>
|
||||
<scale>0.5 0.5 0.5</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://cube_20k/meshes/cube_20k.stl</uri>
|
||||
<scale>0.5 0.5 0.5</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Cube 20k</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Mihai Dhola</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="cube_20k">
|
||||
<link name="link">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
@ -21,4 +21,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
<name>Double pendulum with base</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Steve Peters</name>
|
||||
|
||||
204
double_pendulum_with_base/model.sdf
Normal file
204
double_pendulum_with_base/model.sdf
Normal file
@ -0,0 +1,204 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version="1.4">
|
||||
<model name="double_pendulum_with_base">
|
||||
<link name="base">
|
||||
<inertial>
|
||||
<mass>100</mass>
|
||||
</inertial>
|
||||
<visual name="vis_plate_on_ground">
|
||||
<pose>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.8</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="vis_pole">
|
||||
<pose>-0.275 0 1.1 0 0 0</pose>
|
||||
<geometry>
|
||||
<box><size>0.2 0.2 2.2</size></box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="col_plate_on_ground">
|
||||
<pose>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.8</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name="col_pole">
|
||||
<pose>-0.275 0 1.1 0 0 0</pose>
|
||||
<geometry>
|
||||
<box><size>0.2 0.2 2.2</size></box>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- upper link, length 1, IC -90 degrees -->
|
||||
<link name="upper_link">
|
||||
<pose>0 0 2.1 -1.5708 0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<inertial>
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
</inertial>
|
||||
<visual name="vis_upper_joint">
|
||||
<pose>-0.05 0 0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="vis_lower_joint">
|
||||
<pose>0 0 1.0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.2</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="vis_cylinder">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.9</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="col_upper_joint">
|
||||
<pose>-0.05 0 0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name="col_lower_joint">
|
||||
<pose>0 0 1.0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.2</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name="col_cylinder">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.9</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- lower link, length 1, IC ~-120 degrees more -->
|
||||
<link name="lower_link">
|
||||
<pose>0.25 1.0 2.1 -2 0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<inertial>
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
</inertial>
|
||||
<visual name="vis_lower_joint">
|
||||
<pose>0 0 0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.08</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="vis_cylinder">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.9</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="col_lower_joint">
|
||||
<pose>0 0 0 0 1.5708 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.08</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name="col_cylinder">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.9</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- pin joint for upper link, at origin of upper link -->
|
||||
<joint name="upper_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>upper_link</child>
|
||||
<axis>
|
||||
<xyz>1.0 0 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<!-- pin joint for lower link, at origin of child link -->
|
||||
<joint name="lower_joint" type="revolute">
|
||||
<parent>upper_link</parent>
|
||||
<child>lower_link</child>
|
||||
<axis>
|
||||
<xyz>1.0 0 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Dumpster</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A dumpster.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>Dumpster</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
28
dumpster/model.sdf
Normal file
28
dumpster/model.sdf
Normal file
@ -0,0 +1,28 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="Dumpster">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://dumpster/materials/scripts</uri>
|
||||
<uri>model://dumpster/materials/textures</uri>
|
||||
<name>Dumpster/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Fast Food</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of a fast food restaurant.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>Fast Food</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
30
fast_food/model.sdf
Normal file
30
fast_food/model.sdf
Normal file
@ -0,0 +1,30 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="Fast Food">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://fast_food/meshes/fast_food.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://fast_food/meshes/fast_food.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://fast_food/materials/scripts</uri>
|
||||
<uri>model://fast_food/materials/textures</uri>
|
||||
<name>FastFood/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,13 +0,0 @@
|
||||
<?xml version='1.0'?>
|
||||
<model>
|
||||
<name>Fire hose (damping test)</name>
|
||||
<version>0.1.0</version>
|
||||
<sdf>model.sdf</sdf>
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
<description>
|
||||
This model approximates a fire hose.
|
||||
</description>
|
||||
</model>
|
||||
2010
fire_hose_long/model-1_3.sdf
Normal file
2010
fire_hose_long/model-1_3.sdf
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,9 +1,10 @@
|
||||
<?xml version='1.0'?>
|
||||
|
||||
<model>
|
||||
<name>Fire hose (damping test)</name>
|
||||
<version>0.1.0</version>
|
||||
<sdf>model.sdf</sdf>
|
||||
<sdf version='1.3'>model-1_3.sdf</sdf>
|
||||
<sdf version='1.4'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Gas Station</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of a gas station.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>Gas Station</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
33
gas_station/model.sdf
Normal file
33
gas_station/model.sdf
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="Gas Station">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://gas_station/meshes/gas_station.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://gas_station/meshes/gas_station.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://gas_station/materials/scripts</uri>
|
||||
<uri>model://gas_station/materials/textures</uri>
|
||||
<name>GasStation/Diffuse</name>
|
||||
</script>
|
||||
<shader type="normal_map_object_space">
|
||||
<normal_map>GasStation_Normal.tga</normal_map>
|
||||
</shader>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Ground Plane</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A simple ground plane.
|
||||
</description>
|
||||
</model>
|
||||
39
ground_plane/model-1_2.sdf
Normal file
39
ground_plane/model-1_2.sdf
Normal file
@ -0,0 +1,39 @@
|
||||
<?xml version="1.0"?>
|
||||
<gazebo version="1.2">
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Ground Plane</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
@ -36,4 +36,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Hammer</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A hammer.
|
||||
</description>
|
||||
</model>
|
||||
44
hammer/model-1_2.sdf
Normal file
44
hammer/model-1_2.sdf
Normal file
@ -0,0 +1,44 @@
|
||||
<?xml version="1.0"?>
|
||||
<gazebo version="1.2">
|
||||
<model name="hammer">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<!--
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
|
||||
<collision name="shaft">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geomtry>
|
||||
</collision>
|
||||
<collision name="head">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.3</length>
|
||||
</cylinder>
|
||||
</geomtry>
|
||||
</collision>
|
||||
-->
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://hammer/meshes/hammer.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://hammer/meshes/hammer.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Hammer</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="hammer">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
@ -41,4 +41,4 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Hokuyo</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Hokuyo model
|
||||
</description>
|
||||
</model>
|
||||
File diff suppressed because one or more lines are too long
41
hokuyo/model-1_2.sdf
Normal file
41
hokuyo/model-1_2.sdf
Normal file
@ -0,0 +1,41 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="hokuyo">
|
||||
<link name="link">
|
||||
<gravity>false</gravity>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<sensor name="laser" type="ray">
|
||||
<pose>0.01 0 0.03 0 -0 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>640</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.26889</min_angle>
|
||||
<max_angle>2.268899</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.08</min>
|
||||
<max>10</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
</ray>
|
||||
|
||||
<plugin name="laser" filename="libRayPlugin.so" />
|
||||
<always_on>1</always_on>
|
||||
<update_rate>30</update_rate>
|
||||
<visualize>true</visualize>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<name>Hokuyo</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="hokuyo">
|
||||
<pose>0 0 0.035 0 0 0</pose>
|
||||
<link name="link">
|
||||
<gravity>false</gravity>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
@ -13,8 +13,29 @@
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="collision-base">
|
||||
<pose>0 0 -0.0145 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.041</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<collision name="collision-top">
|
||||
<pose>0 0 0.0205 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.021</radius>
|
||||
<length>0.029</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
|
||||
<sensor name="laser" type="ray">
|
||||
<pose>0.01 0 0.03 0 -0 0</pose>
|
||||
<pose>0.01 0 0.0175 0 -0 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
@ -38,4 +59,4 @@
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>House 1</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of a residential house.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>House 1</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
32
house_1/model.sdf
Normal file
32
house_1/model.sdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="House 1">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_1/meshes/house_1.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_1/meshes/house_1.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://house_1/materials/scripts</uri>
|
||||
<uri>model://house_1/materials/textures</uri>
|
||||
<name>House_1/Diffuse</name>
|
||||
</script>
|
||||
<shader type="normal_map_object_space">
|
||||
<normal_map>House_1_Normal.tga</normal_map>
|
||||
</shader>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>House 2</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of a residential house.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>House 2</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
29
house_2/model.sdf
Normal file
29
house_2/model.sdf
Normal file
@ -0,0 +1,29 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="House 2">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_2/meshes/house_2.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_2/meshes/house_2.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://house_2/materials/scripts</uri>
|
||||
<uri>model://house_2/materials/textures</uri>
|
||||
<name>House_2/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>House 3</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of a residential house.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>House 3</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
29
house_3/model.sdf
Normal file
29
house_3/model.sdf
Normal file
@ -0,0 +1,29 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="House 3">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_3/meshes/house_3.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://house_3/meshes/house_3.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://house_3/materials/scripts</uri>
|
||||
<uri>model://house_3/materials/textures</uri>
|
||||
<name>House_3/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
341
husky/husky-1_3.sdf
Normal file
341
husky/husky-1_3.sdf
Normal file
@ -0,0 +1,341 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version="1.3">
|
||||
<model name="husky">
|
||||
<pose>0 0 .5 0 0 0</pose>
|
||||
<!-- Main Chassis -->
|
||||
<link name="base_link">
|
||||
<!-- Physics -->
|
||||
<collision name='collision'>
|
||||
<!-- <pose>0 0 -0.3 0 0 0</pose> -->
|
||||
<pose>0 0 0.1 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.0074 0.5709 0.2675</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass>33.855</mass>
|
||||
<pose>-0.0856132 -0.000839955 0.238145</pose>
|
||||
<inertia>
|
||||
<ixx>2.2343</ixx>
|
||||
<ixy>-0.023642</ixy>
|
||||
<ixz>0.275174</ixz>
|
||||
<iyy>3.42518</iyy>
|
||||
<iyz>0.00239624</iyz>
|
||||
<izz>2.1241</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<!-- Visual -->
|
||||
<!-- Base frame -->
|
||||
<visual name='base'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/base_link.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Top Plate -->
|
||||
<visual name='top_plate'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/top_plate.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Yellow</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Front Bumper -->
|
||||
<visual name='front_bumper'>
|
||||
<pose>0.47 0 0.091 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Rear Bumper -->
|
||||
<visual name='rear_bumper'>
|
||||
<pose>-0.47 0 0.091 0 0 3.141</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- User Rail -->
|
||||
<visual name='user_rail'>
|
||||
<pose>0.272 0 0.245 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/user_rail.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<!-- Back Left Wheel -->
|
||||
<link name='back_left_wheel'>
|
||||
<pose>-0.256 0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='back_left_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='back_left_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='back_left_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>back_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Back Right Wheel -->
|
||||
<link name='back_right_wheel'>
|
||||
<pose>-0.256 -0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='back_right_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='back_right_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='back_right_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>back_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Front Left Wheel -->
|
||||
<link name='front_left_wheel'>
|
||||
<pose>0.256 0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='front_left_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='front_left_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='front_left_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>front_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Front Right Wheel -->
|
||||
<link name='front_right_wheel'>
|
||||
<pose>0.256 -0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='front_right_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='front_right_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='front_right_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>front_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
<plugin name="husky_diff_controller" filename="libhusky_gazebo_plugins.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>100.0</updateRate>
|
||||
<backLeftJoint>back_left_joint</backLeftJoint>
|
||||
<backRightJoint>back_right_joint</backRightJoint>
|
||||
<frontLeftJoint>front_left_joint</frontLeftJoint>
|
||||
<frontRightJoint>front_right_joint</frontRightJoint>
|
||||
<wheelSeparation>0.5709</wheelSeparation>
|
||||
<wheelDiameter>0.3555</wheelDiameter>
|
||||
<torque>35</torque>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
341
husky/husky.sdf
Normal file
341
husky/husky.sdf
Normal file
@ -0,0 +1,341 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version="1.4">
|
||||
<model name="husky">
|
||||
<pose>0 0 .5 0 0 0</pose>
|
||||
<!-- Main Chassis -->
|
||||
<link name="base_link">
|
||||
<!-- Physics -->
|
||||
<collision name='collision'>
|
||||
<!-- <pose>0 0 -0.3 0 0 0</pose> -->
|
||||
<pose>0 0 0.1 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.0074 0.5709 0.2675</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass>33.855</mass>
|
||||
<pose>-0.0856132 -0.000839955 0.238145</pose>
|
||||
<inertia>
|
||||
<ixx>2.2343</ixx>
|
||||
<ixy>-0.023642</ixy>
|
||||
<ixz>0.275174</ixz>
|
||||
<iyy>3.42518</iyy>
|
||||
<iyz>0.00239624</iyz>
|
||||
<izz>2.1241</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<!-- Visual -->
|
||||
<!-- Base frame -->
|
||||
<visual name='base'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/base_link.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Top Plate -->
|
||||
<visual name='top_plate'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/top_plate.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Yellow</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Front Bumper -->
|
||||
<visual name='front_bumper'>
|
||||
<pose>0.47 0 0.091 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Rear Bumper -->
|
||||
<visual name='rear_bumper'>
|
||||
<pose>-0.47 0 0.091 0 0 3.141</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- User Rail -->
|
||||
<visual name='user_rail'>
|
||||
<pose>0.272 0 0.245 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/user_rail.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<!-- Back Left Wheel -->
|
||||
<link name='back_left_wheel'>
|
||||
<pose>-0.256 0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='back_left_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='back_left_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='back_left_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>back_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Back Right Wheel -->
|
||||
<link name='back_right_wheel'>
|
||||
<pose>-0.256 -0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='back_right_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='back_right_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='back_right_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>back_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Front Left Wheel -->
|
||||
<link name='front_left_wheel'>
|
||||
<pose>0.256 0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='front_left_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='front_left_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='front_left_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>front_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
|
||||
<!-- Front Right Wheel -->
|
||||
<link name='front_right_wheel'>
|
||||
<pose>0.256 -0.285475 0.035 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>2.6357</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.0246688</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0246688</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0441058</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='front_right_wheel_collision'>
|
||||
<pose>0 0 0 -1.5707 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.17775</radius>
|
||||
<length>0.1143</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='front_right_wheel'>
|
||||
<pose>0 0 0 -3.14159 0 0</pose>
|
||||
<geometry>
|
||||
<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='front_right_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>front_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
<physics><ode><limit>
|
||||
<cfm>0.000000</cfm>
|
||||
<erp>0.900000</erp>
|
||||
</limit></ode></physics>
|
||||
</joint>
|
||||
<plugin name="husky_diff_controller" filename="libhusky_gazebo_plugins.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>100.0</updateRate>
|
||||
<backLeftJoint>back_left_joint</backLeftJoint>
|
||||
<backRightJoint>back_right_joint</backRightJoint>
|
||||
<frontLeftJoint>front_left_joint</frontLeftJoint>
|
||||
<frontRightJoint>front_right_joint</frontRightJoint>
|
||||
<wheelSeparation>0.5709</wheelSeparation>
|
||||
<wheelDiameter>0.3555</wheelDiameter>
|
||||
<torque>35</torque>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
husky/meshes/base_link.stl
Executable file
BIN
husky/meshes/base_link.stl
Executable file
Binary file not shown.
BIN
husky/meshes/bumper.stl
Executable file
BIN
husky/meshes/bumper.stl
Executable file
Binary file not shown.
BIN
husky/meshes/top_plate.stl
Executable file
BIN
husky/meshes/top_plate.stl
Executable file
Binary file not shown.
BIN
husky/meshes/user_rail.stl
Executable file
BIN
husky/meshes/user_rail.stl
Executable file
Binary file not shown.
BIN
husky/meshes/wheel.stl
Executable file
BIN
husky/meshes/wheel.stl
Executable file
Binary file not shown.
16
husky/model.config
Normal file
16
husky/model.config
Normal file
@ -0,0 +1,16 @@
|
||||
<?xml version='1.0'?>
|
||||
<model>
|
||||
<name>Clearpath Robotics Husky A200</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">husky-1_3.sdf</sdf>
|
||||
<sdf version="1.4">husky.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ryan Gariepy</name>
|
||||
<email>rgariepy@clearpathrobotics.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Clearpath Robotics Husky A200 - Base Model
|
||||
</description>
|
||||
</model>
|
||||
@ -1,14 +0,0 @@
|
||||
<?xml version='1.0'?>
|
||||
<model>
|
||||
<name>iRobot Hand</name>
|
||||
<version>0.1.0</version>
|
||||
<sdf version='1.3'>model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>OSRF</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
<description>
|
||||
iRobot hand model.
|
||||
</description>
|
||||
</model>
|
||||
@ -3,6 +3,7 @@
|
||||
<name>iRobot Hand</name>
|
||||
<version>0.1.0</version>
|
||||
<sdf version='1.3'>model-1_3.sdf</sdf>
|
||||
<sdf version='1.4'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>OSRF</name>
|
||||
|
||||
2561
irobot_hand/model.sdf
Normal file
2561
irobot_hand/model.sdf
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<version>1.0</version>
|
||||
<name>Kinect</name>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A model of the kinect sensor
|
||||
</description>
|
||||
</model>
|
||||
42
kinect/model-1_2.sdf
Normal file
42
kinect/model-1_2.sdf
Normal file
@ -0,0 +1,42 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="kinect">
|
||||
<pose>0 0 0.036 0 0 0</pose>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.073000 0.276000 0.072000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://kinect/meshes/kinect.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="depth">
|
||||
<update_rate>20</update_rate>
|
||||
<camera>
|
||||
<horizontal_fov>1.047198</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>3</far>
|
||||
</clip>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
@ -21,7 +21,6 @@
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="depth">
|
||||
<update_rate>20</update_rate>
|
||||
<camera>
|
||||
|
||||
@ -3,8 +3,9 @@
|
||||
<model>
|
||||
<version>1.0</version>
|
||||
<name>Kinect</name>
|
||||
<sdf version="1.2">model.sdf</sdf>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<sdf version="1.4">
|
||||
<model name="kinect">
|
||||
<pose>0 0 0.036 0 0 0</pose>
|
||||
<link name="link">
|
||||
@ -21,7 +21,6 @@
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="depth">
|
||||
<update_rate>20</update_rate>
|
||||
<camera>
|
||||
@ -39,4 +38,4 @@
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</gazebo>
|
||||
</sdf>
|
||||
|
||||
15
kitchen_dining/model-1_3.sdf
Normal file
15
kitchen_dining/model-1_3.sdf
Normal file
@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<model name="Kitchen Dining">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://kitchen_dining/meshes/kitchen_dining.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -3,7 +3,8 @@
|
||||
<model>
|
||||
<name>Kitchen and Dining</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<sdf version="1.4">
|
||||
<model name="Kitchen Dining">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
|
||||
22
lamp_post/model-1_3.sdf
Normal file
22
lamp_post/model-1_3.sdf
Normal file
@ -0,0 +1,22 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<model name="Lamp Post">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -3,7 +3,8 @@
|
||||
<model>
|
||||
<name>Lamp Post</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<sdf version="1.4">
|
||||
<model name="Lamp Post">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
|
||||
@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Mailbox</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A mailbox.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
@ -4,6 +4,7 @@
|
||||
<name>Mailbox</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user