diff --git a/CMakeLists.txt b/CMakeLists.txt index 45b1817..9ff27e6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,29 +12,10 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) exec_program(date ARGS -u +%Y-%m-%-dT%H:%M:%S OUTPUT_VARIABLE CURRENT_DATE) -#include (FindPkgConfig) -#if (PKG_CONFIG_FOUND) -# pkg_check_modules(GAZEBO gazebo) -# pkg_check_modules(OGRE OGRE) -# pkg_check_modules(CEGUI CEGUI) -#endif() -# -#include_directories( -# ${GAZEBO_INCLUDE_DIRS} -# ${OGRE_INCLUDE_DIRS} -# ${CEGUI_INCLUDE_DIRS} -#) -# -#link_directories( -# ${GAZEBO_LIBRARY_DIRS} -# ${OGRE_LIBRARY_DIRS} -# ${CEGUI_LIBRARY_DIRS} -#) - - set (dirs bookshelf bowl +brick_box_3x1x3 cabinet camera coke_can @@ -46,6 +27,7 @@ cube_20k double_pendulum_with_base dumpster fast_food +fire_hose_long gas_station ground_plane hammer @@ -68,6 +50,7 @@ nist_simple_ramp_120 nist_stairs_120 office_building pioneer2dx +pioneer3at polaris_ranger_ev powerplant pr2 @@ -77,8 +60,8 @@ simple_arm simple_arm_gripper simple_gripper speed_limit_sign -stereo_camera starting_pen +stereo_camera stop_sign sun table @@ -116,4 +99,3 @@ message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/models") # This must always be last! include(CPack) - diff --git a/bookshelf/manifest.xml b/bookshelf/manifest.xml deleted file mode 100644 index cbb4970..0000000 --- a/bookshelf/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Bookshelf - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A wooden bookshelf. - - diff --git a/bookshelf/model-1_2.sdf b/bookshelf/model-1_2.sdf new file mode 100644 index 0000000..704842a --- /dev/null +++ b/bookshelf/model-1_2.sdf @@ -0,0 +1,165 @@ + + + + true + + + 1.0 + + + 0 0.005 0.6 0 0 0 + + + 0.9 0.01 1.2 + + + + + 0 0.005 0.6 0 0 0 + + + 0.9 0.01 1.2 + + + + + + + + 0.45 -0.195 0.6 0 0 0 + + + 0.02 0.4 1.2 + + + + + 0.45 -0.195 0.6 0 0 0 + + + 0.02 0.4 1.2 + + + + + + + + -0.45 -0.195 0.6 0 0 0 + + + 0.02 0.4 1.2 + + + + + -0.45 -0.195 0.6 0 0 0 + + + 0.02 0.4 1.2 + + + + + + + + 0 -0.195 0.03 0 0 0 + + + 0.88 0.4 0.06 + + + + + 0 -0.195 0.03 0 0 0 + + + 0.88 0.4 0.06 + + + + + + + + 0 -0.195 1.19 0 0 0 + + + 0.88 0.4 0.02 + + + + + 0 -0.195 1.19 0 0 0 + + + 0.88 0.4 0.02 + + + + + + + + 0 -0.195 0.43 0 0 0 + + + 0.88 0.4 0.02 + + + + + 0 -0.195 0.43 0 0 0 + + + 0.88 0.4 0.02 + + + + + + + + 0 -0.195 0.8 0 0 0 + + + 0.88 0.4 0.02 + + + + + 0 -0.195 0.8 0 0 0 + + + 0.88 0.4 0.02 + + + + + + + + + diff --git a/bookshelf/model.config b/bookshelf/model.config index cbb4970..7fa96ba 100644 --- a/bookshelf/model.config +++ b/bookshelf/model.config @@ -3,8 +3,9 @@ Bookshelf 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/bookshelf/model.sdf b/bookshelf/model.sdf index 704842a..182a0b0 100644 --- a/bookshelf/model.sdf +++ b/bookshelf/model.sdf @@ -1,5 +1,5 @@ - + true @@ -162,4 +162,4 @@ - + diff --git a/bowl/manifest.xml b/bowl/manifest.xml deleted file mode 100644 index ee29501..0000000 --- a/bowl/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Bowl - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A simple bowl. - - diff --git a/bowl/model-1_2.sdf b/bowl/model-1_2.sdf new file mode 100644 index 0000000..7bf4750 --- /dev/null +++ b/bowl/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + + + 0.1 + + + + + 0.098 + 0.035 + + + + + + + model://bowl/meshes/bowl.dae + + + + + + diff --git a/bowl/model.config b/bowl/model.config index ee29501..ab89417 100644 --- a/bowl/model.config +++ b/bowl/model.config @@ -3,8 +3,9 @@ Bowl 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/bowl/model.sdf b/bowl/model.sdf index 7bf4750..019524c 100644 --- a/bowl/model.sdf +++ b/bowl/model.sdf @@ -1,5 +1,5 @@ - + @@ -22,4 +22,4 @@ - + diff --git a/brick_box_3x1x3/model-1_3.sdf b/brick_box_3x1x3/model-1_3.sdf new file mode 100644 index 0000000..b929583 --- /dev/null +++ b/brick_box_3x1x3/model-1_3.sdf @@ -0,0 +1,31 @@ + + + + true + + 0 0 1.5 0 0 0 + + + + 3.0 1.0 3.0 + + + + + + + model://brick_box_3x1x3/meshes/simple_box.dae + 3.0 1.0 3.0 + + + + + + + + + diff --git a/brick_box_3x1x3/model.config b/brick_box_3x1x3/model.config index fe74cd2..c367e22 100644 --- a/brick_box_3x1x3/model.config +++ b/brick_box_3x1x3/model.config @@ -3,7 +3,8 @@ Brick Box 3x1x3 1.0 - model.sdf + model-1_4.sdf + model.sdf Brick Box 3x1x3 diff --git a/brick_box_3x1x3/model.sdf b/brick_box_3x1x3/model.sdf index b929583..7c47308 100644 --- a/brick_box_3x1x3/model.sdf +++ b/brick_box_3x1x3/model.sdf @@ -1,5 +1,5 @@ - + true diff --git a/cabinet/manifest.xml b/cabinet/manifest.xml deleted file mode 100644 index 257fad8..0000000 --- a/cabinet/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Cabinet - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A wooden cabinet. - - diff --git a/cabinet/model-1_2.sdf b/cabinet/model-1_2.sdf new file mode 100644 index 0000000..e2e5617 --- /dev/null +++ b/cabinet/model-1_2.sdf @@ -0,0 +1,152 @@ + + + + true + + + 0 0 -1 0 0 0 + + 2.050000 + 0 + 0 + 2.050000 + 0 + 2.050000 + + 25.000000 + + + 0 0 0.010000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + 0 0 0.010000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + + + + 0.235000 0 0.510000 0 0 0 + + + 0.020000 0.450000 1.020000 + + + + + 0.235000 0 0.510000 0 0 0 + + + 0.020000 0.450000 1.020000 + + + + + + + + 0 0.235000 0.510000 0 0 0 + + + 0.450000 0.020000 1.020000 + + + + + 0 0.235000 0.510000 0 0 0 + + + 0.450000 0.020000 1.020000 + + + + + + + + 0 0 0.510000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + 0 0 0.510000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + + + + 0 -0.235000 0.510000 0 0 0 + + + 0.450000 0.020000 1.020000 + + + + + 0 -0.235000 0.510000 0 0 0 + + + 0.450000 0.020000 1.020000 + + + + + + + + 0 0 1.010000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + 0 0 1.010000 0 0 0 + + + 0.450000 0.450000 0.020000 + + + + + + + + + diff --git a/cabinet/model.config b/cabinet/model.config index 257fad8..7ecff70 100644 --- a/cabinet/model.config +++ b/cabinet/model.config @@ -3,8 +3,9 @@ Cabinet 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/cabinet/model.sdf b/cabinet/model.sdf index e2e5617..6c500df 100644 --- a/cabinet/model.sdf +++ b/cabinet/model.sdf @@ -1,5 +1,5 @@ - + true @@ -149,4 +149,4 @@ - + diff --git a/camera/manifest.xml b/camera/manifest.xml deleted file mode 100644 index 118d39e..0000000 --- a/camera/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Camera - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A simple camera with a box for visualization. - - diff --git a/camera/model-1_2.sdf b/camera/model-1_2.sdf new file mode 100644 index 0000000..e3bdd1d --- /dev/null +++ b/camera/model-1_2.sdf @@ -0,0 +1,35 @@ + + + + + false + 0.05 0.05 0.05 0 0 0 + + 0.1 + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + + + + diff --git a/camera/model.config b/camera/model.config index 118d39e..2211501 100644 --- a/camera/model.config +++ b/camera/model.config @@ -3,8 +3,9 @@ Camera 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/camera/model.sdf b/camera/model.sdf index e3bdd1d..3294c60 100644 --- a/camera/model.sdf +++ b/camera/model.sdf @@ -1,12 +1,18 @@ - + - false 0.05 0.05 0.05 0 0 0 0.1 + + + + 0.1 0.1 0.1 + + + @@ -32,4 +38,4 @@ - + diff --git a/coke_can/manifest.xml b/coke_can/manifest.xml deleted file mode 100644 index 64f13ce..0000000 --- a/coke_can/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Coke Can - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - A can of Coke. - - diff --git a/coke_can/model-1_2.sdf b/coke_can/model-1_2.sdf new file mode 100644 index 0000000..21fd483 --- /dev/null +++ b/coke_can/model-1_2.sdf @@ -0,0 +1,34 @@ + + + + + + 0.390 + + 0.00058 + 0 + 0 + 0.00058 + 0 + 0.00019 + + + + 0 0 -0.46 0 0 0 + + + model://coke_can/meshes/coke_can.dae + + + + + 0 0 -0.46 0 0 0 + + + model://coke_can/meshes/coke_can.dae + + + + + + diff --git a/coke_can/model.config b/coke_can/model.config index 64f13ce..46e9a60 100644 --- a/coke_can/model.config +++ b/coke_can/model.config @@ -3,8 +3,9 @@ Coke Can 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/coke_can/model.sdf b/coke_can/model.sdf index 21fd483..84bf6ae 100644 --- a/coke_can/model.sdf +++ b/coke_can/model.sdf @@ -1,5 +1,5 @@ - + @@ -31,4 +31,4 @@ - + diff --git a/construction_barrel/model-1_3.sdf b/construction_barrel/model-1_3.sdf new file mode 100644 index 0000000..1f0d3dd --- /dev/null +++ b/construction_barrel/model-1_3.sdf @@ -0,0 +1,21 @@ + + + + + + + + model://construction_barrel/meshes/construction_barrel.dae + + + + + + + model://construction_barrel/meshes/construction_barrel.dae + + + + + + diff --git a/construction_barrel/model.config b/construction_barrel/model.config index 98f37d1..a6eae39 100644 --- a/construction_barrel/model.config +++ b/construction_barrel/model.config @@ -3,7 +3,8 @@ Construction Barrel 1.0 - model.sdf + model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/construction_barrel/model.sdf b/construction_barrel/model.sdf index 1f0d3dd..c0c0f60 100644 --- a/construction_barrel/model.sdf +++ b/construction_barrel/model.sdf @@ -1,5 +1,5 @@ - + diff --git a/cordless_drill/manifest.xml b/cordless_drill/manifest.xml deleted file mode 100644 index 1bd392b..0000000 --- a/cordless_drill/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Cordless Drill - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - A cordless drill.. - - diff --git a/cordless_drill/model-1_2.sdf b/cordless_drill/model-1_2.sdf new file mode 100644 index 0000000..5f450cc --- /dev/null +++ b/cordless_drill/model-1_2.sdf @@ -0,0 +1,35 @@ + + + + + + -0.00637 -0.008 0.13254 0 0 0 + + 0.01331127 + -0.00030365 + -0.00034148 + 0.01157659 + 0.00088073 + 0.00378028 + + 1.50251902 + + + 0 0 -0.09 0 0 0 + + + model://cordless_drill/meshes/cordless_drill.stl + + + + + 0 0 -0.09 0 0 0 + + + model://cordless_drill/meshes/cordless_drill.dae + + + + + + diff --git a/cordless_drill/model.config b/cordless_drill/model.config index 1bd392b..971a904 100644 --- a/cordless_drill/model.config +++ b/cordless_drill/model.config @@ -3,8 +3,9 @@ Cordless Drill 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/cordless_drill/model.sdf b/cordless_drill/model.sdf index 5f450cc..fcc6736 100644 --- a/cordless_drill/model.sdf +++ b/cordless_drill/model.sdf @@ -1,5 +1,5 @@ - + @@ -21,6 +21,13 @@ model://cordless_drill/meshes/cordless_drill.stl + + + + 0.1 + + + 0 0 -0.09 0 0 0 @@ -32,4 +39,4 @@ - + diff --git a/create/manifest.xml b/create/manifest.xml deleted file mode 100644 index 45c0d30..0000000 --- a/create/manifest.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - iRobot Create - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A model of the iRobot Create. - - - - - diff --git a/create/model-1_2.sdf b/create/model-1_2.sdf new file mode 100644 index 0000000..93ee529 --- /dev/null +++ b/create/model-1_2.sdf @@ -0,0 +1,296 @@ + + + + + + + 0.001453 -0.000453 0.029787 0 0 0 + + 0.058640 + 0.000124 + 0.000615 + 0.058786 + 0.000014 + 1.532440 + + 2.234000 + + + + 0 0 0.047800 0 0 0 + + + 0.016495 + 0.061163 + + + + + 0 0 0.047800 0 0 0 + + + model://create/meshes/create_body.dae + + + + + + 0.130000 0 0.017000 0 1.570700 1.570700 + + + 0.018000 + + + + + + 0 + 0 + 0 0 0 + 0 + 0 + + + + + + 0.130000 0 0.017000 0 1.570700 1.570700 + + + 0.009000 + + + + + + -0.13 0 0.017 0 1.5707 1.5707 + + + 0.015000 + + + + + + 0 + 0 + 0 0 0 + 0 + 0 + + + + + + -0.130000 0 0.017000 0 1.570700 1.570700 + + + 0.007500 + + + + + + + 0.070000 0.140000 0.027000 0 1.570790 0 + + + + 1 + 1.000000 + 0 + 0 + + + + 0.010000 + 0.040000 + 0.100000 + + + + + + 0.150000 0.040000 0.027000 0 1.570790 0 + + + + 1 + 1.000000 + 0 + 0 + + + + 0.010000 + 0.040000 + 0.100000 + + + + + + 0.070000 -0.140000 0.027000 0 1.570790 0 + + + + 1 + 1.000000 + 0 + 0 + + + + 0.010000 + 0.040000 + 0.100000 + + + + + + 0.150000 -0.040000 0.027000 0 1.570790 0 + + + + 1 + 1.000000 + 0 + 0 + + + + 0.010000 + 0.040000 + 0.100000 + + + + + + 0.090000 -0.120000 0.059000 0 0 -1.000000 + + + + 1 + 1.000000 + 0 + 0 + + + + 0.016000 + 0.040000 + 0.100000 + + + + + + + + 0 0.130000 0.032000 0 0 0 + + + 0.001000 + 0 + 0 + 0.001000 + 0 + 0.001000 + + 0.010000 + + + 0 0 0 0 1.570700 1.570700 + + + 0.033000 + 0.023000 + + + + + + 10 + 10 + 0 0 0 + 0 + 0 + + + + + + 0 0 0 0 1.570700 1.570700 + + + 0.033000 + 0.023000 + + + + + + + 0 -0.130000 0.032000 0 0 0 + + + 0.001000 + 0 + 0 + 0.001000 + 0 + 0.001000 + + 0.010000 + + + 0 0 0 0 1.570700 1.570700 + + + 0.033000 + 0.023000 + + + + + + 10 + 10 + 0 0 0 + 0 + 0 + + + + + + 0 0 0 0 1.570700 1.570700 + + + 0.033000 + 0.023000 + + + + + + + base + left_wheel + + 0 1 0 + + + + + base + right_wheel + + 0 1 0 + + + + + diff --git a/create/model.config b/create/model.config index 45c0d30..0cd3955 100644 --- a/create/model.config +++ b/create/model.config @@ -3,8 +3,9 @@ iRobot Create 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/create/model.sdf b/create/model.sdf index 93ee529..2450b1c 100644 --- a/create/model.sdf +++ b/create/model.sdf @@ -1,5 +1,5 @@ - + @@ -293,4 +293,4 @@ - + diff --git a/cube_20k/manifest.xml b/cube_20k/manifest.xml deleted file mode 100644 index 76bce3f..0000000 --- a/cube_20k/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Cube 20k - 1.0 - model.sdf - model-1_3.sdf - - - Mihai Dhola - mihai@ - - - - A cube composed of 20,000 triangles. This is used for testing. - - diff --git a/cube_20k/model-1_2.sdf b/cube_20k/model-1_2.sdf new file mode 100644 index 0000000..fc99d61 --- /dev/null +++ b/cube_20k/model-1_2.sdf @@ -0,0 +1,24 @@ + + + + + 0 0 0.5 0 0 0 + + + + model://cube_20k/meshes/cube_20k.stl + 0.5 0.5 0.5 + + + + + + + model://cube_20k/meshes/cube_20k.stl + 0.5 0.5 0.5 + + + + + + diff --git a/cube_20k/model.config b/cube_20k/model.config index 76bce3f..03ca5a5 100644 --- a/cube_20k/model.config +++ b/cube_20k/model.config @@ -3,8 +3,9 @@ Cube 20k 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Mihai Dhola diff --git a/cube_20k/model.sdf b/cube_20k/model.sdf index fc99d61..42fdd7d 100644 --- a/cube_20k/model.sdf +++ b/cube_20k/model.sdf @@ -1,5 +1,5 @@ - + 0 0 0.5 0 0 0 @@ -21,4 +21,4 @@ - + diff --git a/double_pendulum_with_base/model.config b/double_pendulum_with_base/model.config index 3786e3e..5254a2b 100644 --- a/double_pendulum_with_base/model.config +++ b/double_pendulum_with_base/model.config @@ -4,6 +4,7 @@ Double pendulum with base 1.0 model-1_3.sdf + model.sdf Steve Peters diff --git a/double_pendulum_with_base/model.sdf b/double_pendulum_with_base/model.sdf new file mode 100644 index 0000000..0d6890c --- /dev/null +++ b/double_pendulum_with_base/model.sdf @@ -0,0 +1,204 @@ + + + + + + 100 + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + + + + + -0.275 0 1.1 0 0 0 + + 0.2 0.2 2.2 + + + + + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + + -0.275 0 1.1 0 0 0 + + 0.2 0.2 2.2 + + + + + + 0 0 2.1 -1.5708 0 0 + 0 + + 0 0 0.5 0 0 0 + + + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + + + + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.2 + + + + + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.2 + + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + 0.25 1.0 2.1 -2 0 0 + 0 + + 0 0 0.5 0 0 0 + + + 0 0 0 0 1.5708 0 + + + 0.08 + 0.3 + + + + + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + + 0 0 0 0 1.5708 0 + + + 0.08 + 0.3 + + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + base + upper_link + + 1.0 0 0 + + + + + upper_link + lower_link + + 1.0 0 0 + + + + diff --git a/dumpster/manifest.xml b/dumpster/manifest.xml deleted file mode 100644 index f5ac027..0000000 --- a/dumpster/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Dumpster - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A dumpster. - - - diff --git a/dumpster/model.config b/dumpster/model.config index f5ac027..d55c43b 100644 --- a/dumpster/model.config +++ b/dumpster/model.config @@ -4,6 +4,7 @@ Dumpster 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/dumpster/model.sdf b/dumpster/model.sdf new file mode 100644 index 0000000..cdc66f1 --- /dev/null +++ b/dumpster/model.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + + + diff --git a/fast_food/manifest.xml b/fast_food/manifest.xml deleted file mode 100644 index 570dc5c..0000000 --- a/fast_food/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Fast Food - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a fast food restaurant. - - - diff --git a/fast_food/model.config b/fast_food/model.config index 570dc5c..e23f5c9 100644 --- a/fast_food/model.config +++ b/fast_food/model.config @@ -4,6 +4,7 @@ Fast Food 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/fast_food/model.sdf b/fast_food/model.sdf new file mode 100644 index 0000000..925faee --- /dev/null +++ b/fast_food/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + model://fast_food/meshes/fast_food.dae + + + + + + + model://fast_food/meshes/fast_food.dae + + + + + + + + + diff --git a/fire_hose_long/manifest.xml b/fire_hose_long/manifest.xml deleted file mode 100644 index aef49d4..0000000 --- a/fire_hose_long/manifest.xml +++ /dev/null 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Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a gas station. - - - diff --git a/gas_station/model.config b/gas_station/model.config index c784335..ac5392d 100644 --- a/gas_station/model.config +++ b/gas_station/model.config @@ -4,6 +4,7 @@ Gas Station 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/gas_station/model.sdf b/gas_station/model.sdf new file mode 100644 index 0000000..7f00b9c --- /dev/null +++ b/gas_station/model.sdf @@ -0,0 +1,33 @@ + + + + true + + 0 0 0 0 0 0 + + + + model://gas_station/meshes/gas_station.dae + + + + + + + model://gas_station/meshes/gas_station.dae + + + + + + GasStation_Normal.tga + + + + + + diff --git a/ground_plane/manifest.xml b/ground_plane/manifest.xml deleted file mode 100644 index 3cc85cc..0000000 --- a/ground_plane/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Ground Plane - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A simple ground plane. - - diff --git a/ground_plane/model-1_2.sdf b/ground_plane/model-1_2.sdf new file mode 100644 index 0000000..8950632 --- /dev/null +++ b/ground_plane/model-1_2.sdf @@ -0,0 +1,39 @@ + + + + true + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + false + + + 0 0 1 + 100 100 + + + + + + + + + diff --git a/ground_plane/model.config b/ground_plane/model.config index 3cc85cc..90c512c 100644 --- a/ground_plane/model.config +++ b/ground_plane/model.config @@ -3,8 +3,9 @@ Ground Plane 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/ground_plane/model.sdf b/ground_plane/model.sdf index 8950632..7fc9b5e 100644 --- a/ground_plane/model.sdf +++ b/ground_plane/model.sdf @@ -1,5 +1,5 @@ - + true @@ -36,4 +36,4 @@ - + diff --git a/hammer/manifest.xml b/hammer/manifest.xml deleted file mode 100644 index 010c91f..0000000 --- a/hammer/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Hammer - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A hammer. - - diff --git a/hammer/model-1_2.sdf b/hammer/model-1_2.sdf new file mode 100644 index 0000000..dbd2bde --- /dev/null +++ b/hammer/model-1_2.sdf @@ -0,0 +1,44 @@ + + + + true + + + + + + model://hammer/meshes/hammer.dae + + + + + + + + model://hammer/meshes/hammer.dae + + + + + + diff --git a/hammer/model.config b/hammer/model.config index 010c91f..70b23b5 100644 --- a/hammer/model.config +++ b/hammer/model.config @@ -3,8 +3,9 @@ Hammer 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/hammer/model.sdf b/hammer/model.sdf index dbd2bde..2a5b2f3 100644 --- a/hammer/model.sdf +++ b/hammer/model.sdf @@ -1,5 +1,5 @@ - + true @@ -41,4 +41,4 @@ - + diff --git a/hokuyo/manifest.xml b/hokuyo/manifest.xml deleted file mode 100644 index 0eb9f07..0000000 --- a/hokuyo/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Hokuyo - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - Hokuyo model - - 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+ + + 1 + + + + + + 7.481132 -6.50764 5.343665 + 0 0 1 46.69194 + 0 1 0 0.619768 + 1 0 0 63.5593 + 1 1 1 + + + + 4.076245 1.005454 5.903862 + 0 0 1 106.9363 + 0 1 0 3.163707 + 1 0 0 37.26105 + 1 1 1 + + + + 0 0 0 + 0 0 1 0 + 0 1 0 0 + 1 0 0 90.00001 + 1 1 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/hokuyo/model-1_2.sdf b/hokuyo/model-1_2.sdf new file mode 100644 index 0000000..b4cd23e --- /dev/null +++ b/hokuyo/model-1_2.sdf @@ -0,0 +1,41 @@ + + + + + false + + 0.1 + + + + + model://hokuyo/meshes/hokuyo.dae + + + + + 0.01 0 0.03 0 -0 0 + + + + 640 + 1 + -2.26889 + 2.268899 + + + + 0.08 + 10 + 0.01 + + + + + 1 + 30 + true + + + + diff --git a/hokuyo/model.config b/hokuyo/model.config index 0eb9f07..5666a00 100644 --- a/hokuyo/model.config +++ b/hokuyo/model.config @@ -3,8 +3,9 @@ Hokuyo 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/hokuyo/model.sdf b/hokuyo/model.sdf index b4cd23e..b4283de 100644 --- a/hokuyo/model.sdf +++ b/hokuyo/model.sdf @@ -1,8 +1,8 @@ - + + 0 0 0.035 0 0 0 - false 0.1 @@ -13,8 +13,29 @@ + + + 0 0 -0.0145 0 0 0 + + + 0.05 0.05 0.041 + + + + + + 0 0 0.0205 0 0 0 + + + 0.021 + 0.029 + + + + + - 0.01 0 0.03 0 -0 0 + 0.01 0 0.0175 0 -0 0 @@ -38,4 +59,4 @@ - + diff --git a/house_1/manifest.xml b/house_1/manifest.xml deleted file mode 100644 index 1943f00..0000000 --- a/house_1/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - House 1 - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a residential house. - - - diff --git a/house_1/model.config b/house_1/model.config index 1943f00..bc3443b 100644 --- a/house_1/model.config +++ b/house_1/model.config @@ -4,6 +4,7 @@ House 1 1.0 model-1_3.sdf + model-1_4.sdf Cole Biesemeyer diff --git a/house_1/model.sdf b/house_1/model.sdf new file mode 100644 index 0000000..0296285 --- /dev/null +++ b/house_1/model.sdf @@ -0,0 +1,32 @@ + + + + true + + + + + model://house_1/meshes/house_1.dae + + + + + + + model://house_1/meshes/house_1.dae + + + + + + House_1_Normal.tga + + + + + + diff --git a/house_2/manifest.xml b/house_2/manifest.xml deleted file mode 100644 index 8153597..0000000 --- a/house_2/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - House 2 - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a residential house. - - - diff --git a/house_2/model.config b/house_2/model.config index 8153597..590fa14 100644 --- a/house_2/model.config +++ b/house_2/model.config @@ -4,6 +4,7 @@ House 2 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/house_2/model.sdf b/house_2/model.sdf new file mode 100644 index 0000000..769d386 --- /dev/null +++ b/house_2/model.sdf @@ -0,0 +1,29 @@ + + + + true + + + + + model://house_2/meshes/house_2.dae + + + + + + + model://house_2/meshes/house_2.dae + + + + + + + + + diff --git a/house_3/manifest.xml b/house_3/manifest.xml deleted file mode 100644 index 8461aba..0000000 --- a/house_3/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - House 3 - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a residential house. - - - diff --git a/house_3/model.config b/house_3/model.config index 8461aba..1822c6d 100644 --- a/house_3/model.config +++ b/house_3/model.config @@ -4,6 +4,7 @@ House 3 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/house_3/model.sdf b/house_3/model.sdf new file mode 100644 index 0000000..a48a143 --- /dev/null +++ b/house_3/model.sdf @@ -0,0 +1,29 @@ + + + + true + + + + + model://house_3/meshes/house_3.dae + + + + + + + model://house_3/meshes/house_3.dae + + + + + + + + + diff --git a/husky/husky-1_3.sdf b/husky/husky-1_3.sdf new file mode 100644 index 0000000..342afe1 --- /dev/null +++ b/husky/husky-1_3.sdf @@ -0,0 +1,341 @@ + + + + 0 0 .5 0 0 0 + + + + + + 0 0 0.1 0 0 0 + + + 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front_left_joint + front_right_joint + 0.5709 + 0.3555 + 35 + + + diff --git a/husky/husky.sdf b/husky/husky.sdf new file mode 100644 index 0000000..4808fb3 --- /dev/null +++ b/husky/husky.sdf @@ -0,0 +1,341 @@ + + + + 0 0 .5 0 0 0 + + + + + + 0 0 0.1 0 0 0 + + + 1.0074 0.5709 0.2675 + + + + + + 33.855 + -0.0856132 -0.000839955 0.238145 + + 2.2343 + -0.023642 + 0.275174 + 3.42518 + 0.00239624 + 2.1241 + + + + + + + 0 0 0 0 0 0 + + model://husky/meshes/base_link.stl + + + + + + + + + 0 0 0 0 0 0 + + model://husky/meshes/top_plate.stl + + + + + + + + + 0.47 0 0.091 0 0 0 + + model://husky/meshes/bumper.stl + + + + + + + + + -0.47 0 0.091 0 0 3.141 + + model://husky/meshes/bumper.stl + + + + + + + + + 0.272 0 0.245 0 0 0 + + model://husky/meshes/user_rail.stl + + + + + + + + + + -0.256 0.285475 0.035 0 0 0 + + 2.6357 + 0 0 0 0 0 0 + + 0.0246688 + 0 + 0 + 0.0246688 + 0 + 0.0441058 + + + + 0 0 0 -1.5707 0 0 + + + 0.17775 + 0.1143 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + 0 0 0 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b/husky/meshes/user_rail.stl differ diff --git a/husky/meshes/wheel.stl b/husky/meshes/wheel.stl new file mode 100755 index 0000000..3a3074e Binary files /dev/null and b/husky/meshes/wheel.stl differ diff --git a/husky/model.config b/husky/model.config new file mode 100644 index 0000000..1262639 --- /dev/null +++ b/husky/model.config @@ -0,0 +1,16 @@ + + + Clearpath Robotics Husky A200 + 1.0 + husky-1_3.sdf + husky.sdf + + + Ryan Gariepy + rgariepy@clearpathrobotics.com + + + + Clearpath Robotics Husky A200 - Base Model + + diff --git a/irobot_hand/manifest.xml b/irobot_hand/manifest.xml deleted file mode 100644 index a671616..0000000 --- a/irobot_hand/manifest.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - iRobot Hand - 0.1.0 - model-1_3.sdf - - - OSRF - hsu@osrfoundation.org - - - iRobot hand model. - - diff --git a/irobot_hand/model.config b/irobot_hand/model.config index a671616..8039522 100644 --- a/irobot_hand/model.config +++ b/irobot_hand/model.config @@ -3,6 +3,7 @@ iRobot Hand 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finger2/flexible_link_hidden_between_8_and_9 + + 0 -1 0.000796 + + 0 + 1.57 + + + + + + + finger2/flexible_link_hidden_between_9_and_distal_link + finger2/flexible_link_9 + + -1 0 0 + + 0 + 1.57 + + + + + + + finger2/distal_link + finger2/flexible_link_hidden_between_9_and_distal_link + + 0 -1 0.000796 + + 0 + 1.57 + + + + + + diff --git a/kinect/manifest.xml b/kinect/manifest.xml deleted file mode 100644 index e5e8f16..0000000 --- a/kinect/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - 1.0 - Kinect - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A model of the kinect sensor - - diff --git a/kinect/model-1_2.sdf b/kinect/model-1_2.sdf new file mode 100644 index 0000000..9d3e98f --- /dev/null +++ b/kinect/model-1_2.sdf @@ -0,0 +1,42 @@ + + + + 0 0 0.036 0 0 0 + + + 0.1 + + + + + + 0.073000 0.276000 0.072000 + + + + + + + model://kinect/meshes/kinect.dae + + + + + + 20 + + 1.047198 + + 640 + 480 + R8G8B8 + + + 0.05 + 3 + + + + + + diff --git a/kinect/model-1_3.sdf b/kinect/model-1_3.sdf index 6102f1b..2b569ab 100644 --- a/kinect/model-1_3.sdf +++ b/kinect/model-1_3.sdf @@ -21,7 +21,6 @@ - 20 diff --git a/kinect/model.config b/kinect/model.config index e5e8f16..74da1a6 100644 --- a/kinect/model.config +++ b/kinect/model.config @@ -3,8 +3,9 @@ 1.0 Kinect - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/kinect/model.sdf b/kinect/model.sdf index 9d3e98f..e269fb8 100644 --- a/kinect/model.sdf +++ b/kinect/model.sdf @@ -1,5 +1,5 @@ - + 0 0 0.036 0 0 0 @@ -21,7 +21,6 @@ - 20 @@ -39,4 +38,4 @@ - + diff --git a/kitchen_dining/model-1_3.sdf b/kitchen_dining/model-1_3.sdf new file mode 100644 index 0000000..c50d680 --- /dev/null +++ b/kitchen_dining/model-1_3.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://kitchen_dining/meshes/kitchen_dining.dae + + + + + + diff --git a/kitchen_dining/model.config b/kitchen_dining/model.config index 80d8702..5d3abca 100644 --- a/kitchen_dining/model.config +++ b/kitchen_dining/model.config @@ -3,7 +3,8 @@ Kitchen and Dining 1.0 - model.sdf + model-1_3.sdf + model.sdf Nate Koenig diff --git a/kitchen_dining/model.sdf b/kitchen_dining/model.sdf index c50d680..87992de 100644 --- a/kitchen_dining/model.sdf +++ b/kitchen_dining/model.sdf @@ -1,5 +1,5 @@ - + true diff --git a/lamp_post/model-1_3.sdf b/lamp_post/model-1_3.sdf new file mode 100644 index 0000000..c1e1758 --- /dev/null +++ b/lamp_post/model-1_3.sdf @@ -0,0 +1,22 @@ + + + + true + + + + + model://lamp_post/meshes/lamp_post.dae + + + + + + + model://lamp_post/meshes/lamp_post.dae + + + + + + diff --git a/lamp_post/model.config b/lamp_post/model.config index e0ac091..6313627 100644 --- a/lamp_post/model.config +++ b/lamp_post/model.config @@ -3,7 +3,8 @@ Lamp Post 1.0 - model.sdf + model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/lamp_post/model.sdf b/lamp_post/model.sdf index c1e1758..f3d393a 100644 --- a/lamp_post/model.sdf +++ b/lamp_post/model.sdf @@ -1,5 +1,5 @@ - + true diff --git a/mailbox/manifest.xml b/mailbox/manifest.xml deleted file mode 100644 index 750e792..0000000 --- a/mailbox/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Mailbox - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A mailbox. - - - diff --git a/mailbox/model.config b/mailbox/model.config index 750e792..dbee88b 100644 --- a/mailbox/model.config +++ b/mailbox/model.config @@ -4,6 +4,7 @@ Mailbox 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/mailbox/model.sdf b/mailbox/model.sdf new file mode 100644 index 0000000..4015c67 --- /dev/null +++ b/mailbox/model.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + + + diff --git a/monkey_wrench/manifest.xml b/monkey_wrench/manifest.xml deleted file mode 100644 index 6af89ad..0000000 --- a/monkey_wrench/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Monkey Wrench - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A monkey wrench. - - diff --git a/monkey_wrench/model-1_2.sdf b/monkey_wrench/model-1_2.sdf new file mode 100644 index 0000000..a85a7e9 --- /dev/null +++ b/monkey_wrench/model-1_2.sdf @@ -0,0 +1,46 @@ + + + + false + + 0 0 0 0 0 0 + + + + + + model://monkey_wrench/meshes/monkey_wrench.dae + + + + + + + + model://monkey_wrench/meshes/monkey_wrench.dae + + + + + + diff --git a/monkey_wrench/model.config b/monkey_wrench/model.config index 6af89ad..32d3625 100644 --- a/monkey_wrench/model.config +++ b/monkey_wrench/model.config @@ -3,8 +3,9 @@ Monkey Wrench 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/monkey_wrench/model.sdf b/monkey_wrench/model.sdf index a85a7e9..d0a1ce4 100644 --- a/monkey_wrench/model.sdf +++ b/monkey_wrench/model.sdf @@ -1,5 +1,5 @@ - + false @@ -43,4 +43,4 @@ - + diff --git a/nist_elevated_floor_120/manifest.xml b/nist_elevated_floor_120/manifest.xml deleted file mode 100644 index 071f996..0000000 --- a/nist_elevated_floor_120/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST elevated floor 120 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 1.2m high NIST standard test arena elevated floor - - - diff --git a/nist_elevated_floor_120/model-1_2.sdf b/nist_elevated_floor_120/model-1_2.sdf new file mode 100644 index 0000000..935241e --- /dev/null +++ b/nist_elevated_floor_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae + 1 1 1 + + + + + + + model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae + 1 1 1 + + + + + + diff --git a/nist_elevated_floor_120/model.config b/nist_elevated_floor_120/model.config index 071f996..1c52f41 100644 --- a/nist_elevated_floor_120/model.config +++ b/nist_elevated_floor_120/model.config @@ -3,8 +3,9 @@ NIST elevated floor 120 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_elevated_floor_120/model.sdf b/nist_elevated_floor_120/model.sdf index 935241e..5eaf4de 100644 --- a/nist_elevated_floor_120/model.sdf +++ b/nist_elevated_floor_120/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_fiducial_barrel/manifest.xml b/nist_fiducial_barrel/manifest.xml deleted file mode 100644 index dc474df..0000000 --- a/nist_fiducial_barrel/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST fiducial barrel - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - NIST standard test arena fiducial barrel - - - diff --git a/nist_fiducial_barrel/model-1_2.sdf b/nist_fiducial_barrel/model-1_2.sdf new file mode 100644 index 0000000..ef90a4a --- /dev/null +++ b/nist_fiducial_barrel/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_fiducial_barrel/meshes/nist_fiducial_barrel.dae + 1 1 1 + + e + + + + + model://nist_fiducial_barrel/meshes/nist_fiducial_barrel.dae + 1 1 1 + + + + + + diff --git a/nist_fiducial_barrel/model.config b/nist_fiducial_barrel/model.config index dc474df..2c36852 100644 --- a/nist_fiducial_barrel/model.config +++ b/nist_fiducial_barrel/model.config @@ -3,8 +3,9 @@ NIST fiducial barrel 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_fiducial_barrel/model.sdf b/nist_fiducial_barrel/model.sdf index ef90a4a..f6208a7 100644 --- a/nist_fiducial_barrel/model.sdf +++ b/nist_fiducial_barrel/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_maze_wall_120/manifest.xml b/nist_maze_wall_120/manifest.xml deleted file mode 100644 index 8f6d506..0000000 --- a/nist_maze_wall_120/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST maze wall 120 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 1.2m high NIST standard test arena maze wall - - - diff --git a/nist_maze_wall_120/model-1_2.sdf b/nist_maze_wall_120/model-1_2.sdf new file mode 100644 index 0000000..3a0d7c2 --- /dev/null +++ b/nist_maze_wall_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_120/meshes/nist_maze_wall_120.dae + 1 1 1 + + + + + + diff --git a/nist_maze_wall_120/model.config b/nist_maze_wall_120/model.config index 8f6d506..23e2c5e 100644 --- a/nist_maze_wall_120/model.config +++ b/nist_maze_wall_120/model.config @@ -3,8 +3,9 @@ NIST maze wall 120 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_maze_wall_120/model.sdf b/nist_maze_wall_120/model.sdf index 3a0d7c2..1ba32d8 100644 --- a/nist_maze_wall_120/model.sdf +++ b/nist_maze_wall_120/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_maze_wall_240/manifest.xml b/nist_maze_wall_240/manifest.xml deleted file mode 100644 index c7161fd..0000000 --- a/nist_maze_wall_240/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST maze wall 240 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 2.4m high NIST standard test arena maze wall - - - diff --git a/nist_maze_wall_240/model-1_2.sdf b/nist_maze_wall_240/model-1_2.sdf new file mode 100644 index 0000000..31da6e1 --- /dev/null +++ b/nist_maze_wall_240/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_240/meshes/nist_maze_wall_240.dae + 1 1 1 + + + + + + + model://nist_maze_wall_240/meshes/nist_maze_wall_240.dae + 1 1 1 + + + + + + diff --git a/nist_maze_wall_240/model.config b/nist_maze_wall_240/model.config index c7161fd..c4ed309 100644 --- a/nist_maze_wall_240/model.config +++ b/nist_maze_wall_240/model.config @@ -3,8 +3,9 @@ NIST maze wall 240 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_maze_wall_240/model.sdf b/nist_maze_wall_240/model.sdf index 31da6e1..e6332db 100644 --- a/nist_maze_wall_240/model.sdf +++ b/nist_maze_wall_240/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_maze_wall_triple_holes_120/manifest.xml b/nist_maze_wall_triple_holes_120/manifest.xml deleted file mode 100644 index 4cce7f9..0000000 --- a/nist_maze_wall_triple_holes_120/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST maze wall triple holes 120 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 1.2m high NIST standard test arena maze wall with 3 triple victim holes - - - diff --git a/nist_maze_wall_triple_holes_120/model-1_2.sdf b/nist_maze_wall_triple_holes_120/model-1_2.sdf new file mode 100644 index 0000000..1e844d6 --- /dev/null +++ b/nist_maze_wall_triple_holes_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + diff --git a/nist_maze_wall_triple_holes_120/model.config b/nist_maze_wall_triple_holes_120/model.config index 4cce7f9..c8549f1 100644 --- a/nist_maze_wall_triple_holes_120/model.config +++ b/nist_maze_wall_triple_holes_120/model.config @@ -3,8 +3,9 @@ NIST maze wall triple holes 120 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_maze_wall_triple_holes_120/model.sdf b/nist_maze_wall_triple_holes_120/model.sdf index 1e844d6..c4cf71e 100644 --- a/nist_maze_wall_triple_holes_120/model.sdf +++ b/nist_maze_wall_triple_holes_120/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_simple_ramp_120/manifest.xml b/nist_simple_ramp_120/manifest.xml deleted file mode 100644 index 2ef8d86..0000000 --- a/nist_simple_ramp_120/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST simple ramp 120 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 1.2m high NIST standard test arena simple ramp - - - diff --git a/nist_simple_ramp_120/model-1_2.sdf b/nist_simple_ramp_120/model-1_2.sdf new file mode 100644 index 0000000..1939581 --- /dev/null +++ b/nist_simple_ramp_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_simple_ramp_120/meshes/nist_simple_ramp_120.dae + 1 1 1 + + + + + + + model://nist_simple_ramp_120/meshes/nist_simple_ramp_120.dae + 1 1 1 + + + + + + diff --git a/nist_simple_ramp_120/model.config b/nist_simple_ramp_120/model.config index 2ef8d86..be13153 100644 --- a/nist_simple_ramp_120/model.config +++ b/nist_simple_ramp_120/model.config @@ -3,8 +3,9 @@ NIST simple ramp 120 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model-1_4.sdf Stefan Kohlbrecher diff --git a/nist_simple_ramp_120/model.sdf b/nist_simple_ramp_120/model.sdf index 1939581..d8132c6 100644 --- a/nist_simple_ramp_120/model.sdf +++ b/nist_simple_ramp_120/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/nist_stairs_120/manifest.xml b/nist_stairs_120/manifest.xml deleted file mode 100644 index 0c34255..0000000 --- a/nist_stairs_120/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - NIST stairs 120 - 1.0 - model.sdf - model-1_3.sdf - - - Stefan Kohlbrecher - kohlbrecher@sim.tu-darmstadt.de - - - - 1.2m high NIST standard test arena stairs - - - diff --git a/nist_stairs_120/model-1_2.sdf b/nist_stairs_120/model-1_2.sdf new file mode 100644 index 0000000..2d9f10c --- /dev/null +++ b/nist_stairs_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_stairs_120/meshes/nist_stairs_120.dae + 1 1 1 + + + + + + + model://nist_stairs_120/meshes/nist_stairs_120.dae + 1 1 1 + + + + + + diff --git a/nist_stairs_120/model.config b/nist_stairs_120/model.config index 0c34255..baa02f2 100644 --- a/nist_stairs_120/model.config +++ b/nist_stairs_120/model.config @@ -3,8 +3,9 @@ NIST stairs 120 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Stefan Kohlbrecher diff --git a/nist_stairs_120/model.sdf b/nist_stairs_120/model.sdf index 2d9f10c..b74925a 100644 --- a/nist_stairs_120/model.sdf +++ b/nist_stairs_120/model.sdf @@ -1,5 +1,5 @@ - + true @@ -22,4 +22,4 @@ - + diff --git a/office_building/manifest.xml b/office_building/manifest.xml deleted file mode 100644 index 6043d52..0000000 --- a/office_building/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Office Building - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a office building. - - - diff --git a/office_building/model.config b/office_building/model.config index 6043d52..82b8952 100644 --- a/office_building/model.config +++ b/office_building/model.config @@ -4,6 +4,7 @@ Office Building 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/office_building/model.sdf b/office_building/model.sdf new file mode 100644 index 0000000..b7f4e5f --- /dev/null +++ b/office_building/model.sdf @@ -0,0 +1,22 @@ + + + + true + + + + + model://office_building/meshes/office_building.dae + + + + + + + model://office_building/meshes/office_building.dae + + + + + + diff --git a/pioneer2dx/manifest.xml b/pioneer2dx/manifest.xml deleted file mode 100644 index aa6dc98..0000000 --- a/pioneer2dx/manifest.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - Pioneer 2DX - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A model of the pioneer 2 dx robot. - - - - - diff --git a/pioneer2dx/model-1_2.sdf b/pioneer2dx/model-1_2.sdf new file mode 100644 index 0000000..3c531cc --- /dev/null +++ b/pioneer2dx/model-1_2.sdf @@ -0,0 +1,157 @@ + + + + + 0 0 0.16 0 0 0 + + 5.0 + + + + + 0.445 0.277 0.17 + + + + + -0.200 0 -0.12 0 0 0 + + + 0.04 + + + + + + 0 + 0 + 1.0 + 1.0 + + + + + + 0 0 0.04 0 0 0 + + + model://pioneer2dx/meshes/chassis.dae + + + + + -0.200 0 -0.12 0 0 0 + + + 0.04 + + + + + + + + + 0.1 -.17 0.11 0 1.5707 1.5707 + + 0.1 + + + + + 0.11 + 0.05 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + + 0.11 + 0.05 + + + + + + + + + 0.1 .17 0.11 0 1.5707 1.5707 + + 0.5 + + + + + 0.11 + 0.05 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + + 0.11 + 0.05 + + + + + + + + + 0 0 -0.03 0 0 0 + left_wheel + chassis + + 0 1 0 + + + + 0 0 0.03 0 0 0 + right_wheel + chassis + + 0 1 0 + + + + + left_wheel_hinge + right_wheel_hinge + 5 + + + + diff --git a/pioneer2dx/model.config b/pioneer2dx/model.config index aa6dc98..60b1740 100644 --- a/pioneer2dx/model.config +++ b/pioneer2dx/model.config @@ -3,8 +3,9 @@ Pioneer 2DX 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/pioneer2dx/model.sdf b/pioneer2dx/model.sdf index 3c531cc..5c440ac 100644 --- a/pioneer2dx/model.sdf +++ b/pioneer2dx/model.sdf @@ -1,5 +1,5 @@ - + 0 0 0.16 0 0 0 @@ -154,4 +154,4 @@ - + diff --git a/pioneer3at/meshes/chassis.dae b/pioneer3at/meshes/chassis.dae new file mode 100644 index 0000000..095490c --- /dev/null +++ b/pioneer3at/meshes/chassis.dae @@ -0,0 +1,804 @@ + + + + + Blender User + Blender 2.66.0 r54695 + + 2013-02-22T16:54:39 + 2013-02-22T16:54:39 + + Z_UP + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.4245856 0.4245856 0.4245856 1 + + + 0.25 0.25 0.25 1 + + + 50 + + + 1 + + + + + + 1 + + + + 1 + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.5449541 7.38441e-4 7.38441e-4 1 + + + 0.25 0.25 0.25 1 + + + 50 + + + 1 + + + + + + 1 + + + + 1 + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.4575394 0.3729805 0.134534 1 + + + 0.25 0.25 0.25 1 + + + 50 + + + 1 + + + + + + 1 + + + + 1 + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.05602185 0.05602185 0.05602185 1 + + + 0.25 0.25 0.25 1 + + + 50 + + + 1 + + + + + + 1 + + + + 1 + + + + + + + + + + + + + + + + + + + + + 0.04071873 0.1392317 0.02252143 0.04527044 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chassis + + 0 1 0 + + + + + + + + diff --git a/polaris_ranger_ev/manifest.xml b/polaris_ranger_ev/manifest.xml deleted file mode 100644 index ecb0b33..0000000 --- a/polaris_ranger_ev/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Polaris Ranger EV - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of the Polaris Ranger EV. - - - diff --git a/powerplant/manifest.xml b/powerplant/manifest.xml deleted file mode 100644 index c9828c4..0000000 --- a/powerplant/manifest.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - Power Plant - 1.0 - - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A power plant. - - diff --git a/powerplant/model-1_2.sdf b/powerplant/model-1_2.sdf new file mode 100644 index 0000000..7c1d16c --- /dev/null +++ b/powerplant/model-1_2.sdf @@ -0,0 +1,34 @@ + + + + true + + 0 0 0.01 0 0 0 + + + + + model://powerplant/meshes/powerplant.dae + + + + + + + + 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@@ 0.034000 - - - - 100.0 - - - @@ -296,13 +275,6 @@ 0.034000 - - - - 100.0 - - - @@ -366,13 +338,6 @@ 0.034000 - - - - 100.0 - - - @@ -405,13 +370,6 @@ 0.034000 - - - - 100.0 - - - @@ -475,13 +433,6 @@ 0.034000 - - - - 100.0 - - - @@ -514,13 +465,6 @@ 0.034000 - - - - 100.0 - - - @@ -3089,4 +3033,4 @@ - + diff --git a/pr2_gripper/manifest.xml b/pr2_gripper/manifest.xml deleted file mode 100644 index 18fd2a4..0000000 --- a/pr2_gripper/manifest.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - PR2 Gripper - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - The Willow Garage PR2 gripper model. - - - - - model://pr2 - 1.0 - - - diff --git a/pr2_gripper/model-1_2.sdf b/pr2_gripper/model-1_2.sdf new file mode 100644 index 0000000..295f3e3 --- /dev/null +++ b/pr2_gripper/model-1_2.sdf @@ -0,0 +1,717 @@ + + + + -0.771000 0.188000 -0.790675 3.141593 -1.570796 3.141593 + + 0.771000 -0.188000 0.790675 0.000000 -0.000000 0.000000 + + 0.056408 0.000451 -0.001014 0.000000 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0.000000 + + 0.000000 0.000000 1.000000 + + + + -0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000 + r_gripper_l_parallel_link + r_gripper_l_finger_tip_link + + + 0.000000 + 0.000000 + + + -10000000000000000.000000 + 10000000000000000.000000 + 0.000000 + 0.000000 + + 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000 + r_gripper_r_finger_tip_link + r_gripper_l_finger_tip_link + + + 0.000000 + 0.000000 + + + -10000000000000000.000000 + 10000000000000000.000000 + 0.000000 + 0.000000 + + 0.000000 1.000000 0.000000 + + + 0 + + +Success diff --git a/pr2_gripper/model.config b/pr2_gripper/model.config index 18fd2a4..e0616f7 100644 --- a/pr2_gripper/model.config +++ b/pr2_gripper/model.config @@ -3,8 +3,9 @@ PR2 Gripper 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/pr2_gripper/model.sdf b/pr2_gripper/model.sdf index 295f3e3..c375605 100644 --- a/pr2_gripper/model.sdf +++ b/pr2_gripper/model.sdf @@ -1,5 +1,5 @@ - + -0.771000 0.188000 -0.790675 3.141593 -1.570796 3.141593 @@ -713,5 +713,4 @@ 0 - -Success + diff --git a/saucepan/manifest.xml b/saucepan/manifest.xml deleted file mode 100644 index 0245d91..0000000 --- a/saucepan/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Saucepan - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A saucepan. - - diff --git a/saucepan/model-1_2.sdf b/saucepan/model-1_2.sdf new file mode 100644 index 0000000..6a14308 --- /dev/null +++ b/saucepan/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + + + 0.1 + + + + + 0.127 + 0.058 + + + + + + + model://saucepan/meshes/saucepan.dae + + + + + + diff --git a/saucepan/model.config b/saucepan/model.config index 0245d91..9873e93 100644 --- a/saucepan/model.config +++ b/saucepan/model.config @@ -3,8 +3,9 @@ Saucepan 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/saucepan/model.sdf b/saucepan/model.sdf index 6a14308..e8a6fbf 100644 --- a/saucepan/model.sdf +++ b/saucepan/model.sdf @@ -1,5 +1,5 @@ - + @@ -22,4 +22,4 @@ - + diff --git a/simple_arm/manifest.xml b/simple_arm/manifest.xml deleted file mode 100644 index 01be6ff..0000000 --- a/simple_arm/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Simple Arm - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - A simple SCARA arm. - - diff --git a/simple_arm/model-1_2.sdf b/simple_arm/model-1_2.sdf new file mode 100644 index 0000000..13cff16 --- /dev/null +++ b/simple_arm/model-1_2.sdf @@ -0,0 +1,327 @@ + + + + + + 0 0 0.00099 0 0 0 + + 1.11 + 0 + 0 + 100.11 + 0 + 1.01 + + 101.0 + + + 0 0 0.05 0 0 0 + + + 1.0 1.0 0.1 + + + + + 0 0 0.05 0 0 0 + + + 1.0 1.0 0.1 + + + + + + + + 0 0 0.6 0 0 0 + + + 0.05 + 1.0 + + + + + 0 0 0.6 0 0 0 + + + 0.05 + 1.0 + + + + + + + + + 0 0 1.1 0 0 0 + + 0.045455 0 0 0 0 0 + + 0.011 + 0 + 0 + 0.0225 + 0 + 0.0135 + + 1.1 + + + 0 0 0.05 0 0 0 + + + 0.05 + 0.1 + + + + + 0 0 0.05 0 0 0 + + + 0.05 + 0.1 + + + + + + + + 0.55 0 0.05 0 0 0 + + + 1.0 0.05 0.1 + + + + + 0.55 0 0.05 0 0 0 + + + 1.0 0.05 0.1 + + + + + + + + + 1.05 0 1.1 0 0 0 + + 0.0875 0 0.083333 0 0 0 + + 0.031 + 0 + 0.005 + 0.07275 + 0 + 0.04475 + + 1.2 + + + 0 0 0.1 0 0 0 + + + 0.05 + 0.2 + + + + + 0 0 0.1 0 0 0 + + + 0.05 + 0.2 + + + + + + + + 0.3 0 0.15 0 0 0 + + + 0.5 0.03 0.1 + + + + + 0.3 0 0.15 0 0 0 + + + 0.5 0.03 0.1 + + + + + + + + 0.55 0 0.15 0 0 0 + + + 0.05 + 0.3 + + + + + 0.55 0 0.15 0 0 0 + + + 0.05 + 0.3 + + + + + + + + + 1.6 0 1.05 0 0 0 + + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.001 + + 0.1 + + + 0 0 0.5 0 0 0 + + + 0.03 + 1.0 + + + + + 0 0 0.5 0 0 0 + + + 0.03 + 1.0 + + + + + + + + + 1.6 0 1.0 0 0 0 + + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.001 + + 0.1 + + + 0 0 0.025 0 0 0 + + + 0.05 + 0.05 + + + + + 0 0 0.025 0 0 0 + + + 0.05 + 0.05 + + + + + + + + + arm_base + arm_shoulder_pan + + + 1.000000 + 0.000000 + + 0 0 1 + + + + arm_shoulder_pan + arm_elbow_pan + + + 1.000000 + 0.000000 + + 0 0 1 + + + + arm_elbow_pan + arm_wrist_lift + + + 1.000000 + 0.000000 + + + -0.8 + 0.1 + + 0 0 1 + + + + arm_wrist_lift + arm_wrist_roll + + + 1.000000 + 0.000000 + + + -2.999994 + 2.999994 + + 0 0 1 + + + + + diff --git a/simple_arm/model.config b/simple_arm/model.config index 01be6ff..dab3daf 100644 --- a/simple_arm/model.config +++ b/simple_arm/model.config @@ -3,8 +3,9 @@ Simple Arm 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/simple_arm/model.sdf b/simple_arm/model.sdf index 13cff16..8724a34 100644 --- a/simple_arm/model.sdf +++ b/simple_arm/model.sdf @@ -1,5 +1,5 @@ - + @@ -30,7 +30,10 @@ - + @@ -51,7 +54,10 @@ - + @@ -87,7 +93,10 @@ - + @@ -106,7 +115,10 @@ - + @@ -142,7 +154,10 @@ - + @@ -161,7 +176,10 @@ - + @@ -182,7 +200,10 @@ - + @@ -218,7 +239,10 @@ - + @@ -254,7 +278,10 @@ - + @@ -323,5 +350,5 @@ --> - - + + diff --git a/simple_arm_gripper/manifest.xml b/simple_arm_gripper/manifest.xml deleted file mode 100644 index 5abf15c..0000000 --- a/simple_arm_gripper/manifest.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - Simple Arm Gripper - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - - model://simple_gripper - 1.0 - - - - - A simple arm and pinch gripper. - - diff --git a/simple_arm_gripper/model-1_2.sdf b/simple_arm_gripper/model-1_2.sdf new file mode 100644 index 0000000..ac58e15 --- /dev/null +++ b/simple_arm_gripper/model-1_2.sdf @@ -0,0 +1,27 @@ + + + + + model://simple_arm + + + + model://simple_gripper + 1.8 0 1 0 0 0 + + + + + + simple_arm::arm_wrist_roll + simple_gripper::riser + + + 0 + 0 + + 0 0 1 + + + + diff --git a/simple_arm_gripper/model.config b/simple_arm_gripper/model.config index 5abf15c..a948f06 100644 --- a/simple_arm_gripper/model.config +++ b/simple_arm_gripper/model.config @@ -3,8 +3,9 @@ Simple Arm Gripper 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/simple_arm_gripper/model.sdf b/simple_arm_gripper/model.sdf index ac58e15..d154a2a 100644 --- a/simple_arm_gripper/model.sdf +++ b/simple_arm_gripper/model.sdf @@ -1,5 +1,5 @@ - + model://simple_arm @@ -24,4 +24,4 @@ - + diff --git a/simple_gripper/manifest.xml b/simple_gripper/manifest.xml deleted file mode 100644 index 758cb73..0000000 --- a/simple_gripper/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Simple Gripper - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - A simple pinch gripper. - - diff --git a/simple_gripper/model-1_2.sdf b/simple_gripper/model-1_2.sdf new file mode 100644 index 0000000..1171798 --- /dev/null +++ b/simple_gripper/model-1_2.sdf @@ -0,0 +1,248 @@ + + + + + -0.15 0.0 0.5 0 0 0 + + 10 + + + + + 0.05 0.05 1.0 + + + + + + 0.0 + + + + + + + + 0.05 0.05 1.0 + + + + + + 0.0 0.0 0.05 0 0 0 + + 0.5 + + + + + 0.1 0.2 0.1 + + + + + + 0.0 + + + + + + + + 0.1 0.2 0.1 + + + + + + 0.1 0.2 0.05 0 0 -0.78539 + + 0.1 + + + + + 0.1 0.3 0.1 + + + + + + 0.1 + 0 + + + + + 0.0 + + + + + + + + 0.1 0.3 0.1 + + + + + + 0.336 0.3 0.05 0 0 1.5707 + + 0.5 + + + + + 0.1 0.2 0.1 + + + + + + .1 + 0 + + + + + 0.0 + + + + + + + + 0.1 0.2 0.1 + + + + + + 0.1 -0.2 0.05 0 0 .78539 + + 0.1 + + + + + 0.1 0.3 0.1 + + + + + + 0.1 + 0 + + + + + 0.0 + + + + + + + + 0.1 0.3 0.1 + + + + + + 0.336 -0.3 0.05 0 0 1.5707 + + 0.1 + + + + + 0.1 0.2 0.1 + + + + + + 0.1 + 0 + + + + + 0.0 + + + + + + + + 0.1 0.2 0.1 + + + + + + 0 -0.15 0 0 0 0 + left_finger + palm + + -0.80.8 + 0 0 1 + + + + 0 0.1 0 0 0 0 + left_finger_tip + left_finger + + -0.80.8 + 0 0 1 + + + + 0 0.15 0 0 0 0 + right_finger + palm + + -0.80.8 + 0 0 1 + + + + 0 0.1 0 0 0 0 + right_finger_tip + right_finger + + -0.80.8 + 0 0 1 + + + + palm + riser + + 00.9 + 0 0 1 + + + + + + 40 + 20 + 2 + + right_finger + right_finger_tip + left_finger + left_finger_tip + palm + + + diff --git a/simple_gripper/model.config b/simple_gripper/model.config index 758cb73..a3bc6fd 100644 --- a/simple_gripper/model.config +++ b/simple_gripper/model.config @@ -3,8 +3,9 @@ Simple Gripper 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/simple_gripper/model.sdf b/simple_gripper/model.sdf index 1171798..e89e85a 100644 --- a/simple_gripper/model.sdf +++ b/simple_gripper/model.sdf @@ -1,5 +1,5 @@ - + -0.15 0.0 0.5 0 0 0 @@ -245,4 +245,4 @@ palm - + diff --git a/speed_limit_sign/model-1_3.sdf b/speed_limit_sign/model-1_3.sdf new file mode 100644 index 0000000..4402b5e --- /dev/null +++ b/speed_limit_sign/model-1_3.sdf @@ -0,0 +1,24 @@ + + + + true + + + + + 10 10 10 + model://speed_limit_sign/meshes/speed_limit_sign.dae + + + + + + + 10 10 10 + model://speed_limit_sign/meshes/speed_limit_sign.dae + + + + + + diff --git a/speed_limit_sign/model.config b/speed_limit_sign/model.config index d9c026b..08e65ea 100644 --- a/speed_limit_sign/model.config +++ b/speed_limit_sign/model.config @@ -3,7 +3,8 @@ Speed limit sign 1.0 - model.sdf + model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/speed_limit_sign/model.sdf b/speed_limit_sign/model.sdf index 4402b5e..bc07d3a 100644 --- a/speed_limit_sign/model.sdf +++ b/speed_limit_sign/model.sdf @@ -1,5 +1,5 @@ - + true diff --git a/starting_pen/model-1_3.sdf b/starting_pen/model-1_3.sdf new file mode 100644 index 0000000..a7f2671 --- /dev/null +++ b/starting_pen/model-1_3.sdf @@ -0,0 +1,22 @@ + + + + true + + + + + model://starting_pen/meshes/starting_pen.dae + + + + + + + model://starting_pen/meshes/starting_pen.dae + + + + + + diff --git a/starting_pen/model.config b/starting_pen/model.config index a614fd0..1c1abb1 100644 --- a/starting_pen/model.config +++ b/starting_pen/model.config @@ -3,7 +3,8 @@ Starting Pen 1.0 - model.sdf + model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/starting_pen/model.sdf b/starting_pen/model.sdf index a7f2671..4b2e3f3 100644 --- a/starting_pen/model.sdf +++ b/starting_pen/model.sdf @@ -1,5 +1,5 @@ - + true diff --git a/stereo_camera/manifest.xml b/stereo_camera/manifest.xml deleted file mode 100644 index bbe1914..0000000 --- a/stereo_camera/manifest.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - Stereo Camera - 1.0 - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A stereo camera. - - diff --git a/stereo_camera/model.config b/stereo_camera/model.config index bbe1914..eeeb000 100644 --- a/stereo_camera/model.config +++ b/stereo_camera/model.config @@ -4,6 +4,7 @@ Stereo Camera 1.0 model-1_3.sdf + model.sdf Nate Koenig diff --git a/stereo_camera/model.sdf b/stereo_camera/model.sdf new file mode 100644 index 0000000..119ba62 --- /dev/null +++ b/stereo_camera/model.sdf @@ -0,0 +1,60 @@ + + + + + 0.05 0.05 0.05 0 0 0 + + 0.1 + + + + + + 0.1 0.1 0.1 + + + + + + + + 0.1 0.1 0.1 + + + + + + 1 + 30 + false + + + 0 0.2 0 0 0 0 + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + + + 0 -0.2 0 0 0 0 + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + + + + + diff --git a/stop_sign/manifest.xml b/stop_sign/manifest.xml deleted file mode 100644 index 200b641..0000000 --- a/stop_sign/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - Stop Sign - 1.0 - model-1_3.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A stop sign. - - - diff --git a/stop_sign/model.config b/stop_sign/model.config index 200b641..41d81a5 100644 --- a/stop_sign/model.config +++ b/stop_sign/model.config @@ -4,6 +4,7 @@ Stop Sign 1.0 model-1_3.sdf + model.sdf Cole Biesemeyer diff --git a/stop_sign/model.sdf b/stop_sign/model.sdf new file mode 100644 index 0000000..c3945a9 --- /dev/null +++ b/stop_sign/model.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://stop_sign/meshes/stop_sign.dae + + + + + + + model://stop_sign/meshes/stop_sign.dae + + + + + + + + + diff --git a/sun/manifest.xml b/sun/manifest.xml deleted file mode 100644 index 5bb130f..0000000 --- a/sun/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Sun - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A directional light for the sun. - - diff --git a/sun/model-1_2.sdf b/sun/model-1_2.sdf new file mode 100644 index 0000000..af51c66 --- /dev/null +++ b/sun/model-1_2.sdf @@ -0,0 +1,19 @@ + + + + true + + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + + 1000 + 0.9 + 0.01 + 0.001 + + + -0.5 0.5 -1.0 + + diff --git a/sun/model.config b/sun/model.config index 5bb130f..3e321e7 100644 --- a/sun/model.config +++ b/sun/model.config @@ -3,8 +3,9 @@ Sun 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/sun/model.sdf b/sun/model.sdf index af51c66..2811095 100644 --- a/sun/model.sdf +++ b/sun/model.sdf @@ -1,4 +1,5 @@ - + + true @@ -16,4 +17,4 @@ -0.5 0.5 -1.0 - + diff --git a/table/manifest.xml b/table/manifest.xml deleted file mode 100644 index ed7dd2b..0000000 --- a/table/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Table - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A wooden table. - - diff --git a/table/model-1_2.sdf b/table/model-1_2.sdf new file mode 100644 index 0000000..1cc44b2 --- /dev/null +++ b/table/model-1_2.sdf @@ -0,0 +1,126 @@ + + + + false + + + 0 0 1.0 0 0 0 + + + 1.5 0.8 0.03 + + + + + 0 0 1.0 0 0 0 + + + 1.4 0.8 0.04 + + + + + + + + 0.68 0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + 0.68 0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + + + + 0.68 -0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + 0.68 -0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + + + + -0.68 -0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + -0.68 -0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + + + + -0.68 0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + -0.68 0.38 0.5 0 0 0 + + + 0.02 + 1.0 + + + + + + + + + diff --git a/table/model.config b/table/model.config index ed7dd2b..0a6ae95 100644 --- a/table/model.config +++ b/table/model.config @@ -3,8 +3,9 @@ Table 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/table/model.sdf b/table/model.sdf index 1cc44b2..8984c2c 100644 --- a/table/model.sdf +++ b/table/model.sdf @@ -1,7 +1,7 @@ - + - false + true 0 0 1.0 0 0 0 @@ -15,7 +15,7 @@ 0 0 1.0 0 0 0 - 1.4 0.8 0.04 + 1.5 0.8 0.03 @@ -123,4 +123,4 @@ - + diff --git a/turtlebot/manifest.xml b/turtlebot/manifest.xml deleted file mode 100644 index f163199..0000000 --- a/turtlebot/manifest.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - TurtleBot - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A model of the turtlebot - - - - - model://kinect - 1.0 - - - model://create - 1.0 - - - diff --git a/turtlebot/model-1_2.sdf b/turtlebot/model-1_2.sdf new file mode 100644 index 0000000..606dca1 --- /dev/null +++ b/turtlebot/model-1_2.sdf @@ -0,0 +1,474 @@ + + + + + + 0.001453 -0.000453 0.029787 0 0 0 + + 0.058640 + 0.000124 + 0.000615 + 0.058786 + 0.000014 + 1.532440 + + 2.234000 + + + + + -0.043340 0 0.084757 0 0 0 + + + 0.233502 0.314845 0.006401 + + + + + -0.043340 0 0.084757 0 0 0 + + + model://turtlebot/meshes/plate_0_logo.dae + + + + + + -0.002660 0 0.141907 0 0 0 + + + 0.314856 0.314856 0.006401 + + + + + -0.002660 0 0.141907 0 0 0 + + + model://turtlebot/meshes/plate_1_logo.dae + + + + + + -0.002660 0 0.199108 0 0 0 + + + 0.314856 0.314856 0.006401 + + + + + -0.002660 0 0.199108 0 0 0 + + + model://turtlebot/meshes/plate_1_logo.dae + + + + + + -0.015820 0 0.405457 0 0 0 + + + 0.288000 0.315000 0.006401 + + + + + -0.015820 0 0.405457 0 0 0 + + + model://turtlebot/meshes/plate_2_logo.dae + + + + + + -0.002540 0.111468 0.079992 0 0 0 + + + 0.012700 + 0.003175 + + + + + -0.002540 0.111468 0.079992 0 0 0 + + + model://turtlebot/meshes/68-02403-125_Spacer.dae + + + + + + -0.002540 -0.111468 0.079992 0 0 0 + + + 0.012700 + 0.003175 + + + + + -0.002540 -0.111468 0.079992 0 0 0 + + + model://turtlebot/meshes/68-02403-125_Spacer.dae + + + + + + -0.072390 -0.111468 0.079992 0 0 0 + + + 0.012700 + 0.003175 + + + + + -0.072390 -0.111468 0.079992 0 0 0 + + + model://turtlebot/meshes/68-02403-125_Spacer.dae + + + + + + -0.072390 0.111468 0.079992 0 0 0 + + + 0.012700 + 0.003175 + + + + + -0.072390 0.111468 0.079992 0 0 0 + + + model://turtlebot/meshes/68-02403-125_Spacer.dae + + + + + + 0.067640 0.131420 0.087980 0 0 0 + + + 0.038100 + 0.063500 + + + + + 0.067640 0.131420 0.087980 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + 0.067640 -0.131420 0.087980 0 0 0 + + + 0.038100 + 0.063500 + + + + + 0.067640 -0.131420 0.087980 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + -0.052832 -0.131420 0.087980 0 0 0 + + + 0.038100 + 0.063500 + + + + + -0.052832 -0.131420 0.087980 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + -0.052832 0.131420 0.087980 0 0 0 + + + 0.038100 + 0.063500 + + + + + -0.052832 0.131420 0.087980 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + 0.067640 0.131420 0.145130 0 0 0 + + + 0.038100 + 0.063500 + + + + + 0.067640 0.131420 0.145130 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + 0.067640 -0.131420 0.145130 0 0 0 + + + 0.038100 + 0.063500 + + + + + 0.067640 -0.131420 0.145130 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + -0.052832 -0.131420 0.145130 0 0 0 + + + 0.038100 + 0.063500 + + + + + -0.052832 -0.131420 0.145130 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + -0.052832 0.131420 0.145130 0 0 0 + + + 0.038100 + 0.063500 + + + + + -0.052832 0.131420 0.145130 0 0 0 + + + model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae + + + + + + 0.067640 0.131420 0.202280 0 0 0 + + + 0.011113 + 0.203200 + + + + + 0.067640 0.131420 0.202280 0 0 0 + + + model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae + + + + + + 0.067640 -0.131420 0.202280 0 0 0 + + + 0.011113 + 0.203200 + + + + + 0.067640 -0.131420 0.202280 0 0 0 + + + model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae + + + + + + -0.052832 -0.131420 0.202280 0 0 0 + + + 0.011113 + 0.203200 + + + + + -0.052832 -0.131420 0.202280 0 0 0 + + + model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae + + + + + + -0.052832 0.131420 0.202280 0 0 0 + + + 0.011113 + 0.203200 + + + + + -0.052832 0.131420 0.202280 0 0 0 + + + model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae + + + + + + -0.105098 0.098000 0.202308 0 0 0 + + + 0.001111 + 0.008585 + + + + + -0.105098 0.098000 0.202308 0 0 0 + + + model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae + + + + + + -0.105098 -0.098000 0.202308 0 0 0 + + + 0.001111 + 0.008585 + + + + + -0.105098 -0.098000 0.202308 0 0 0 + + + model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae + + + + + + -0.065000 0 0.092000 0 0 0 + + + + 180 + 1.000000 + -2.268928 + 2.268928 + + + + 0.080000 + 10 + 0.010000 + + + + 20 + + + + + model://create + + + + model://kinect + -0.087098 0 0.303857 0 0 0 + + + + create::base + rack + + 0 0 1 + + 0 + 0 + + + + + + kinect::link + rack + + 0 0 1 + + 0 + 0 + + + + + + diff --git a/turtlebot/model.config b/turtlebot/model.config index f163199..baffc2d 100644 --- a/turtlebot/model.config +++ b/turtlebot/model.config @@ -3,8 +3,9 @@ TurtleBot 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/turtlebot/model.sdf b/turtlebot/model.sdf index 606dca1..cd60592 100644 --- a/turtlebot/model.sdf +++ b/turtlebot/model.sdf @@ -1,5 +1,5 @@ - + @@ -471,4 +471,4 @@ - + diff --git a/utility_cart/manifest.xml b/utility_cart/manifest.xml deleted file mode 100644 index a525a6d..0000000 --- a/utility_cart/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Utility Cart - 1.0 - model.sdf - model-1_3.sdf - - - John Hsu - hsu@osrfoundation.org - - - - A utility cart. - - diff --git a/utility_cart/model-1_2.sdf b/utility_cart/model-1_2.sdf new file mode 100644 index 0000000..fcd0f53 --- /dev/null +++ b/utility_cart/model-1_2.sdf @@ -0,0 +1,269 @@ + + + + + 0 0 0.3 0 0 0 + + + 2.0 1.0 0.2 + + + + + 2.0 1.0 0.2 + + + + + + + + 0.8 0.6 0.3 0 1.5707 1.5707 + + + 0.30.1 + + + + + 0.30.1 + + + + + + + + 0.8 -0.6 0.3 0 1.5707 1.5707 + + + 0.30.1 + + + + + 0.30.1 + + + + + + + + -0.8 -0.6 0.3 0 1.5707 1.5707 + + + 0.30.1 + + + + + 0.30.1 + + + + + + + + -0.8 0.6 0.3 0 1.5707 1.5707 + + + 0.30.1 + + + + + 0.30.1 + + + + + + + + 0.3 0.1 0.5 0 0 0 + + + 0.1 0.1 0.1 + + + + + 0.1 0.1 0.1 + + + + + + + + 0.3 0.25 0.5 0 0 0 + + + 0.1 0.1 0.1 + + + + + 0.1 0.1 0.1 + + + + + + + + 0.3 0.2 1.0 0 1.5707 0 + + + 0.10.01 + + + + + 0.10.01 + + + + + + + + chassis + gas_pedal + + 1 0 0 + 00.2 + + + + chassis + brake_pedal + + 1 0 0 + 00.2 + + + + chassis + steering_wheel + + 1 0 0 + -7.8537.853 + + + + chassis + front_left_wheel + + 0 0 1 + + 0 + 0 + + + + 0 1 0 + + + + 0.00.9 + + + + + chassis + front_right_wheel + 0 0 1 + 00 + + + 0 1 0 + + + + 0.00.9 + + + + + chassis + back_right_wheel + 0 0 1 + 00 + + + 0 1 0 + + + + 0.00.9 + + + + + chassis + back_left_wheel + 0 0 1 + 00 + + + 0 1 0 + + + + 0.00.9 + + + + + + + front_left_joint + front_right_joint + back_left_joint + back_right_joint + + gas_joint + + brake_joint + + steering_joint + + 10 + 10 + + 0.5 + + 10 + + + 0.1 + + + diff --git a/utility_cart/model.config b/utility_cart/model.config index a525a6d..4bbb4ac 100644 --- a/utility_cart/model.config +++ b/utility_cart/model.config @@ -3,8 +3,9 @@ Utility Cart 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf John Hsu diff --git a/utility_cart/model.sdf b/utility_cart/model.sdf index fcd0f53..ee1d7fc 100644 --- a/utility_cart/model.sdf +++ b/utility_cart/model.sdf @@ -1,5 +1,5 @@ - + 0 0 0.3 0 0 0 @@ -266,4 +266,4 @@ 0.1 - + diff --git a/willowgarage/manifest.xml b/willowgarage/manifest.xml deleted file mode 100644 index 3d09861..0000000 --- a/willowgarage/manifest.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - Willow Garage - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - The offices of Willow Garage - - diff --git a/willowgarage/model-1_2.sdf b/willowgarage/model-1_2.sdf new file mode 100644 index 0000000..906ffe5 --- /dev/null +++ b/willowgarage/model-1_2.sdf @@ -0,0 +1,24 @@ + + + + true + -20 -20 0 0 0 0 + + + + + model://willowgarage/meshes/willowgarage_collision.dae + + + + + + + model://willowgarage/meshes/willowgarage_visual.dae + + + false + + + + diff --git a/willowgarage/model.config b/willowgarage/model.config index 3d09861..89eb762 100644 --- a/willowgarage/model.config +++ b/willowgarage/model.config @@ -3,8 +3,9 @@ Willow Garage 1.0 - model.sdf + model-1_2.sdf model-1_3.sdf + model.sdf Nate Koenig diff --git a/willowgarage/model.sdf b/willowgarage/model.sdf index 906ffe5..f1d7be5 100644 --- a/willowgarage/model.sdf +++ b/willowgarage/model.sdf @@ -1,5 +1,5 @@ - + true -20 -20 0 0 0 0 @@ -21,4 +21,4 @@ - + diff --git a/youbot/manifest.xml b/youbot/manifest.xml deleted file mode 100644 index 4bd5d9d..0000000 --- a/youbot/manifest.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - Kuka YouBot - 1.0 - model.sdf - model-1_3.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - - model://hokuyo - 1.0 - - - - - The Keuka YouBot - - diff --git a/youbot/model-1_2.sdf b/youbot/model-1_2.sdf new file mode 100644 index 0000000..93f30b3 --- /dev/null +++ b/youbot/model-1_2.sdf @@ -0,0 +1,1419 @@ + + + + 0 0 0.09 0 0 0 + + 0 0 0 0 0 0 + + 0 0 -0.050000 0 0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + 0.100000 + + + 0 0 -0.050000 0 0 0 + + + 0.001000 0.001000 0.001000 + + + + + + 0 + 0 + 0 0 0 + 0 + 0 + + + + 0 + 0 + + + + 0 + 0.200000 + 10000000000000.000000 + 100000000000.000000 + -1 + 0 + + + + 0 + + + 0 0 0 0 0 0 + + + 0.001000 0.001000 0.001000 + + + + 1 + 0 + 0 + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + 5.652230 + -0.009720 + 1.293990 + 5.669470 + -0.007380 + 3.683200 + + 22.000000 + + + 0 0 0 0 0 0 + + + model://youbot/meshes/base/base_convex.stl + + + + + + 0 + 0 + 0 0 0 + 0 + 0 + + + + 0 + 0 + + + + 0 + 0.200000 + 10000000000000.000000 + 100000000000.000000 + -1 + 0 + + + + 0 + + + 0 0 0 0 0 0 + + + model://youbot/meshes/base/base.dae + + + + 1 + 0 + 0 + + + 0.143000 0 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