diff --git a/CMakeLists.txt b/CMakeLists.txt index 3051cc3..5a56b27 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -14,6 +14,7 @@ exec_program(date ARGS -u +%Y-%m-%-dT%H:%M:%S OUTPUT_VARIABLE CURRENT_DATE) set (dirs asphalt_plane +beer bookshelf bowl brick_box_3x1x3 @@ -31,21 +32,28 @@ drc_practice_2x4 drc_practice_2x6 drc_practice_4x4x20 drc_practice_4x4x40 +drc_practice_angled_barrier_135 +drc_practice_angled_barrier_45 drc_practice_ball_valve +drc_practice_ball_valve_wall drc_practice_base_4x8 drc_practice_block_wall +drc_practice_blue_cylinder drc_practice_door_4x8 -drc_practice_hand_wheel_valve -drc_practice_hand_wheel_valve_wall drc_practice_handle_wheel_valve drc_practice_handle_wheel_valve_wall +drc_practice_hand_wheel_valve +drc_practice_hand_wheel_valve_wall drc_practice_ladder +drc_practice_orange_jersey_barrier drc_practice_truss drc_practice_valve_wall drc_practice_wheel_valve -drc_practice_wheel_valve_wall drc_practice_wheel_valve_large drc_practice_wheel_valve_large_wall +drc_practice_wheel_valve_wall +drc_practice_white_jersey_barrier +drc_practice_yellow_parking_block dumpster fast_food fire_hose_long @@ -53,10 +61,12 @@ gas_station grey_wall ground_plane hammer +hinged_door hokuyo house_1 house_2 house_3 +husky irobot_hand jersey_barrier kinect @@ -123,4 +133,3 @@ message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/models") # This must always be last! include(CPack) - diff --git a/drc_practice_angled_barrier_135/model.config b/drc_practice_angled_barrier_135/model.config new file mode 100644 index 0000000..6e7f7f7 --- /dev/null +++ b/drc_practice_angled_barrier_135/model.config @@ -0,0 +1,22 @@ + + + + DRC Practice: 135 degree barriers + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.com + + + + Christina Gomez + @swri.org + + + + An series of jersey barriers angled toward 135 degrees, used in DRC Practice. + + + diff --git a/drc_practice_angled_barrier_135/model.sdf b/drc_practice_angled_barrier_135/model.sdf new file mode 100644 index 0000000..06b4f7b --- /dev/null +++ b/drc_practice_angled_barrier_135/model.sdf @@ -0,0 +1,57 @@ + + + + true + + one + model://drc_practice_orange_jersey_barrier + 0 0 0 0 0 -1.5707 + + + two + model://drc_practice_white_jersey_barrier + 1.7646 -0.008563 0 0 0 -1.5707 + + + three + model://drc_practice_orange_jersey_barrier + 3.529222 -0.016171 0 0 0 -1.5707 + + + + four + model://drc_practice_white_jersey_barrier + 5.134312 0.54837 0 0 0 -0.785398163 + + + five + model://drc_practice_orange_jersey_barrier + 6.388405 1.790741 0 0 0 -0.785398163 + + + six + model://drc_practice_white_jersey_barrier + 7.642301 3.032578 0 0 0 -0.785398163 + + + seven + model://drc_practice_orange_jersey_barrier + 8.896112 4.275286 0 0 0 -0.785398163 + + + eight + model://drc_practice_white_jersey_barrier + 10.149623 5.51614 0 0 0 -0.785398163 + + + nine + model://drc_practice_blue_cylinder + 11.028822 6.442031 0 0 0 0 + + + ten + model://drc_practice_blue_cylinder + 11.028822 6.442031 0.866 0 0 0 + + + diff --git a/drc_practice_angled_barrier_45/model.config b/drc_practice_angled_barrier_45/model.config new file mode 100644 index 0000000..653686d --- /dev/null +++ b/drc_practice_angled_barrier_45/model.config @@ -0,0 +1,22 @@ + + + + DRC Practice: 45 degree barriers + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.com + + + + Christina Gomez + @swri.org + + + + An series of jersey barriers angled toward 45 degrees, used in DRC Practice. + + + diff --git a/drc_practice_angled_barrier_45/model.sdf b/drc_practice_angled_barrier_45/model.sdf new file mode 100644 index 0000000..4ef00ab --- /dev/null +++ b/drc_practice_angled_barrier_45/model.sdf @@ -0,0 +1,56 @@ + + + + true + + one + model://drc_practice_orange_jersey_barrier + 0 0 0 0 0 -1.5707 + + + two + model://drc_practice_white_jersey_barrier + 1.7646 -0.008563 0 0 0 -1.5707 + + + three + model://drc_practice_orange_jersey_barrier + 3.529222 -0.016171 0 0 0 -1.5707 + + + four + model://drc_practice_white_jersey_barrier + 5.2559 -0.59667 0 0 0 -2.356196 + + + five + model://drc_practice_orange_jersey_barrier + 6.498182 -1.850039 0 0 0 -2.356196 + + + six + model://drc_practice_white_jersey_barrier + 7.740308 -3.102611 0 0 0 -2.356196 + + + seven + model://drc_practice_orange_jersey_barrier + 8.982557 -4.356097 0 0 0 -2.356196 + + + eight + model://drc_practice_white_jersey_barrier + 10.22479 -5.609784 0 0 0 -2.356196 + + + nine + model://drc_practice_blue_cylinder + 11.028822 -6.442031 0 0 0 0 + + + ten + model://drc_practice_blue_cylinder + 11.028822 -6.442031 0.866 0 0 0 + + + diff --git a/drc_practice_ball_valve_wall/model.sdf b/drc_practice_ball_valve_wall/model.sdf index d4b5ffd..b920219 100644 --- a/drc_practice_ball_valve_wall/model.sdf +++ b/drc_practice_ball_valve_wall/model.sdf @@ -4,8 +4,21 @@ model://drc_practice_valve_wall wall + false - + + + world + ball_valve_wall::wall::link + + 0 0 1 + + 0 + 0 + + + + model://drc_practice_ball_valve valve_0 diff --git a/drc_practice_blue_cylinder/meshes/cylinder.dae b/drc_practice_blue_cylinder/meshes/cylinder.dae new file mode 100644 index 0000000..0ab93ec --- /dev/null +++ b/drc_practice_blue_cylinder/meshes/cylinder.dae @@ -0,0 +1,170 @@ + + + + + SketchUp 8.0.15158 + + 2013-08-12T21:53:02Z + 2013-08-12T21:53:02Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5.49568620647519 -9.518807315922791 0.8609186505956288 2.838115132256963 -10.59198839808957 0.7326258521460716 5.482816541949399 -9.496516585767116 0.7326258521460716 2.844775939181579 -10.61685025512713 0.8609186505956288 2.844775939181579 -10.61685025512713 0.8609186505956288 5.49568620647519 -9.518807315922791 0.8609186505956288 2.838115132256963 -10.59198839808957 0.7326258521460716 5.482816541949399 -9.496516585767116 0.7326258521460716 7.772073994239586 -7.772073493041306 0.8609186505956288 7.753870663050742 -7.753876423659436 0.7326258521460716 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1063 1173 1130 1128 1174 1128 1130 1064 1065 1131 1129 1175 1129 1131 1132 1130 1140 1130 1132 1066 1067 1133 1131 1141 1131 1133 1134 1136 1076 1136 1134 1154 1155 1135 1137 1077 1137 1135 1136 1138 1078 1138 1136 1176 1177 1137 1139 1079 1139 1137 1138 1156 1104 1156 1138 1178 1179 1139 1157 1105 1157 1139 1140 1174 1142 1174 1140 1130 1131 1141 1175 1143 1175 1141 1142 1180 1144 1180 1142 1174 1175 1143 1181 1145 1181 1143 1146 1180 1182 1180 1146 1144 1145 1147 1181 1183 1181 1147 1148 1182 1184 1182 1148 1146 1147 1149 1183 1185 1183 1149 1150 1184 1186 1184 1150 1148 1149 1151 1185 1187 1185 1151 1152 1186 1176 1186 1152 1150 1151 1153 1187 1177 1187 1153 1154 1176 1136 1176 1154 1152 1153 1155 1177 1137 1177 1155 1156 1158 1106 1158 1156 1188 1189 1157 1159 1107 1159 1157 1160 1162 1112 1162 1160 1190 1191 1161 1163 1113 1163 1161 1162 1164 1114 1164 1162 1192 1193 1163 1165 1115 1165 1163 1120 1194 1168 1194 1120 1166 1167 1121 1195 1169 1195 1121 1122 1190 1160 1190 1122 1168 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b/drc_practice_hand_wheel_valve_wall/model.sdf index 6ff4652..e3ef4e0 100644 --- a/drc_practice_hand_wheel_valve_wall/model.sdf +++ b/drc_practice_hand_wheel_valve_wall/model.sdf @@ -4,30 +4,43 @@ model://drc_practice_valve_wall wall + false - + + + world + hand_wheel_valve_wall::wall::link + + 0 0 1 + + 0 + 0 + + + + model://drc_practice_hand_wheel_valve valve_0 - 0.919587 -0.0092 0.285 0 0 0 + 0.919587 -0.02 0.285 0 0 0 model://drc_practice_hand_wheel_valve valve_1 - 0.919587 -0.0092 0.8954 0 0 0 + 0.919587 -0.02 0.8954 0 0 0 model://drc_practice_hand_wheel_valve valve_2 - 0.919587 -0.0092 1.5058 0 0 0 + 0.919587 -0.02 1.5058 0 0 0 model://drc_practice_hand_wheel_valve valve_3 - 0.919587 -0.0092 2.1162 0 0 0 + 0.919587 -0.02 2.1162 0 0 0 @@ -35,19 +48,19 @@ model://drc_practice_hand_wheel_valve valve_4 - 0.614335 -0.0092 0.5896 0 0 0 + 0.614335 -0.02 0.5896 0 0 0 model://drc_practice_hand_wheel_valve valve_5 - 0.614335 -0.0092 1.2 0 0 0 + 0.614335 -0.02 1.2 0 0 0 model://drc_practice_hand_wheel_valve valve_6 - 0.614335 -0.0092 1.8104 0 0 0 + 0.614335 -0.02 1.8104 0 0 0 @@ -55,25 +68,25 @@ model://drc_practice_hand_wheel_valve valve_7 - 0.309083 -0.0092 0.285 0 0 0 + 0.309083 -0.02 0.285 0 0 0 model://drc_practice_hand_wheel_valve valve_8 - 0.309083 -0.0092 0.8954 0 0 0 + 0.309083 -0.02 0.8954 0 0 0 model://drc_practice_hand_wheel_valve valve_9 - 0.309083 -0.0092 1.5058 0 0 0 + 0.309083 -0.02 1.5058 0 0 0 model://drc_practice_hand_wheel_valve valve_10 - 0.309083 -0.0092 2.1162 0 0 0 + 0.309083 -0.02 2.1162 0 0 0 diff --git a/drc_practice_handle_wheel_valve/model.sdf b/drc_practice_handle_wheel_valve/model.sdf index 841d505..7bb5c32 100644 --- a/drc_practice_handle_wheel_valve/model.sdf +++ b/drc_practice_handle_wheel_valve/model.sdf @@ -3,7 +3,7 @@ - 0 0.0300 0.124968 0 0 1.57 + 0 0.0200 0.015 0 0 1.57 4.6114 0.0126 0.0036 0 0 0 0 @@ -55,6 +55,12 @@ + + - attachment + world handle 0 1 0 diff --git a/drc_practice_handle_wheel_valve_wall/model.sdf b/drc_practice_handle_wheel_valve_wall/model.sdf index f5375e1..f8d5a0c 100644 --- a/drc_practice_handle_wheel_valve_wall/model.sdf +++ b/drc_practice_handle_wheel_valve_wall/model.sdf @@ -4,8 +4,21 @@ model://drc_practice_valve_wall wall + false - + + + world + handle_wheel_valve_wall::wall::link + + 0 0 1 + + 0 + 0 + + + + model://drc_practice_handle_wheel_valve valve_0 diff --git a/drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae b/drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae new file mode 100644 index 0000000..8d3aa34 --- /dev/null +++ b/drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae @@ -0,0 +1,144 @@ + + + + + SketchUp 8.0.15158 + + 2013-08-12T21:38:13Z + 2013-08-12T21:38:13Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 4.164056342747529 34.73072321122073 33.00000000000001 4.835843304919138 -34.77322417507855 33.00000000000001 3.835854455178321 -34.76850184576102 33.00000000000001 5.164045192488345 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+ + + + + + + + + + + + + + + + + + + 1 0.4941176470588236 0 1 + + + + + + + + + + + 0.8823529411764706 0.8823529411764706 0.8823529411764706 1 + + + + + + + + + + diff --git a/drc_practice_orange_jersey_barrier/model.config b/drc_practice_orange_jersey_barrier/model.config new file mode 100644 index 0000000..6c16601 --- /dev/null +++ b/drc_practice_orange_jersey_barrier/model.config @@ -0,0 +1,22 @@ + + + + DRC Practice: Orange Jersey Barrier + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.com + + + + Christina Gomez + @swri.org + + + + An orange jersey barrier used in DRC Practice. + + + diff --git a/drc_practice_orange_jersey_barrier/model.sdf b/drc_practice_orange_jersey_barrier/model.sdf new file mode 100644 index 0000000..0aa3422 --- /dev/null +++ b/drc_practice_orange_jersey_barrier/model.sdf @@ -0,0 +1,23 @@ + + + + true + + + + + model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae + + + + + + + + model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae + + + + + + diff --git a/drc_practice_valve_wall/model.sdf b/drc_practice_valve_wall/model.sdf index 5f5a066..a940cbc 100644 --- a/drc_practice_valve_wall/model.sdf +++ b/drc_practice_valve_wall/model.sdf @@ -4,7 +4,7 @@ true - 0.6096 0.000475 1.217 0 0 0 + 0.6096 0.00476 1.2192 0 0 0 1.2192 0.00952 2.4384 @@ -13,6 +13,7 @@ + -0.004536186 -0.003571748 0 0 0 0 model://drc_practice_valve_wall/meshes/five_dice_wall.dae diff --git a/drc_practice_wheel_valve/model.sdf b/drc_practice_wheel_valve/model.sdf index 061bb74..16fd53c 100644 --- a/drc_practice_wheel_valve/model.sdf +++ b/drc_practice_wheel_valve/model.sdf @@ -2,7 +2,7 @@ - 0 0.0300 0.124968 0 0 1.57 + 0 0.0300 0.0 0 0 1.57 7.9917 0 0.0169 0 0 0 0 @@ -52,8 +52,15 @@ + + + - attachment + world handle 0 1 0 diff --git a/drc_practice_wheel_valve_large/model.sdf b/drc_practice_wheel_valve_large/model.sdf index b38358b..209eaf6 100644 --- a/drc_practice_wheel_valve_large/model.sdf +++ b/drc_practice_wheel_valve_large/model.sdf @@ -2,7 +2,7 @@ - 0 0.0300 0.177428906 0 0 0 + 0 0.0300 0 0 0 0 7.8219 0 -0.0615 0 0 0 0 @@ -53,6 +53,12 @@ + + - attachment + world handle 0 1 0 diff --git a/drc_practice_wheel_valve_large_wall/model.sdf b/drc_practice_wheel_valve_large_wall/model.sdf index e84ed2d..e4e3caf 100644 --- a/drc_practice_wheel_valve_large_wall/model.sdf +++ b/drc_practice_wheel_valve_large_wall/model.sdf @@ -4,8 +4,21 @@ model://drc_practice_valve_wall wall + false - + + + world + wheel_valve_large_wall::wall::link + + 0 0 1 + + 0 + 0 + + + + model://drc_practice_wheel_valve_large valve_0 diff --git a/drc_practice_wheel_valve_wall/model.sdf b/drc_practice_wheel_valve_wall/model.sdf index 7b7fbb0..803a506 100644 --- a/drc_practice_wheel_valve_wall/model.sdf +++ b/drc_practice_wheel_valve_wall/model.sdf @@ -4,8 +4,21 @@ model://drc_practice_valve_wall wall + false - + + + world + wheel_valve_wall::wall::link + + 0 0 1 + + 0 + 0 + + + + model://drc_practice_wheel_valve valve_0 diff --git a/drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae b/drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae new file mode 100644 index 0000000..30e81f1 --- /dev/null +++ b/drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae @@ -0,0 +1,144 @@ + + + + + SketchUp 8.0.15158 + + 2013-08-12T21:38:13Z + 2013-08-12T21:38:13Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 4.164056342747529 34.73072321122073 33.00000000000001 4.835843304919138 -34.77322417507855 33.00000000000001 3.835854455178321 -34.76850184576102 33.00000000000001 5.164045192488345 34.72600088190314 33.00000000000001 5.164045192488345 34.72600088190314 33.00000000000001 4.164056342747529 34.73072321122073 33.00000000000001 4.835843304919138 -34.77322417507855 33.00000000000001 3.835854455178321 -34.76850184576102 33.00000000000001 4.033531798146271 34.73133959797719 32.99144000000003 3.705329910577063 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