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This commit is contained in:
John Hsu 2012-11-27 17:25:26 -08:00
commit d3cfde5f85
32 changed files with 1285 additions and 71 deletions
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1
.hgignore
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@ -5,3 +5,4 @@ build_*
Ogre.log
model.tar.gz
*.swp
.DS_Store

88
CMakeLists.txt
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@ -5,11 +5,13 @@ if(COMMAND CMAKE_POLICY)
CMAKE_POLICY(SET CMP0004 NEW)
endif(COMMAND CMAKE_POLICY)
set (CMAKE_INSTALL_PREFIX /usr CACHE STRING "Install path prefix")
set (CMAKE_INSTALL_PREFIX /usr/share CACHE STRING "Install path prefix")
project (gazebo_models)
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)
@ -31,44 +33,62 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
set (dirs
bookshelf
bowl
cabinet
camera
coke_can
cordless_drill
create
cube_20k
ground_plane
hammer
hokuyo
kinect
monkey_wrench
pioneer2dx
powerplant
pr2
pr2_gripper
simple_arm
simple_arm_gripper
simple_gripper
sun
table
turtlebot
utility_cart
willowgarage
youbot
bookshelf
bowl
cabinet
camera
coke_can
cordless_drill
create
cube_20k
ground_plane
hammer
hokuyo
kinect
monkey_wrench
nist_elevated_floor_120
nist_fiducial_barrel
nist_maze_wall_120
nist_maze_wall_240
nist_maze_wall_triple_holes_120
nist_simple_ramp_120
nist_stairs_120
pioneer2dx
powerplant
pr2
pr2_gripper
saucepan
simple_arm
simple_arm_gripper
simple_gripper
sun
table
turtlebot
utility_cart
willowgarage
youbot
)
)
set (MODEL_URI_LIST "" CACHE INTERNAL "Model URI List" FORCE)
foreach (dir ${dirs})
add_custom_target(${dir}
ALL
COMMAND tar czvf ${dir}.tar.gz ../${dir}
COMMAND mv ${dir}.tar.gz ../${dir}/model.tar.gz)
install (DIRECTORY ${dir} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gazebo_models)
add_custom_target(${dir} ALL COMMAND mkdir -p ${PROJECT_BINARY_DIR}/${dir}
COMMAND tar czvf ${PROJECT_BINARY_DIR}/${dir}/model.tar.gz ../${dir})
install (DIRECTORY ${dir} DESTINATION ${CMAKE_INSTALL_PREFIX}/models)
install (FILES ${PROJECT_BINARY_DIR}/${dir}/model.tar.gz DESTINATION
${CMAKE_INSTALL_PREFIX}/models/${dir})
set(MODEL_URI_LIST "${MODEL_URI_LIST}<uri>file://${dir}</uri>\n")
endforeach ()
message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/share/gazebo_models")
configure_file("${CMAKE_SOURCE_DIR}/manifest.xml.in"
"${PROJECT_BINARY_DIR}/manifest.xml")
install (FILES "${PROJECT_BINARY_DIR}/manifest.xml" DESTINATION
${CMAKE_INSTALL_PREFIX}/models/)
message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}/models")
# This must always be last!
include(CPack)

34
manifest.xml
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@ -1,34 +0,0 @@
<?xml version="1.0" ?>
<database>
<name>gazebosim</name>
<license>Creative Commons Attribution 3.0 Unported</license>
<models>
<uri>file://bookshelf</uri>
<uri>file://bowl</uri>
<uri>file://cabinet</uri>
<uri>file://coke_can</uri>
<uri>file://cordless_drill</uri>
<uri>file://create</uri>
<uri>file://cube_20k</uri>
<uri>file://ground_plane</uri>
<uri>file://camera</uri>
<uri>file://hammer</uri>
<uri>file://hokuyo</uri>
<uri>file://youbot</uri>
<uri>file://kinect</uri>
<uri>file://monkey_wrench</uri>
<uri>file://pioneer2dx</uri>
<uri>file://powerplant</uri>
<uri>file://pr2</uri>
<uri>file://pr2_gripper</uri>
<uri>file://simple_arm</uri>
<uri>file://simple_arm_gripper</uri>
<uri>file://simple_gripper</uri>
<uri>file://sun</uri>
<uri>file://table</uri>
<uri>file://turtlebot</uri>
<uri>file://utility_cart</uri>
<uri>file://willowgarage</uri>
</models>
</database>

10
manifest.xml.in Normal file
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@ -0,0 +1,10 @@
<?xml version="1.0" ?>
<database>
<name>gazebosim</name>
<license>Creative Commons Attribution 3.0 Unported</license>
<last_modified>@CURRENT_DATE@</last_modified>
<models>
@MODEL_URI_LIST@
</models>
</database>

17
nist_elevated_floor_120/manifest.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0"?>
<model>
<name>NIST elevated floor 120</name>
<version>1.0</version>
<sdf>model.sdf</sdf>
<author>
<name>Stefan Kohlbrecher</name>
<email>kohlbrecher@sim.tu-darmstadt.de</email>
</author>
<description>
1.2m high NIST standard test arena elevated floor
</description>
</model>

BIN
nist_elevated_floor_120/materials/textures/plywood256x256.jpg Normal file
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136
nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae Normal file
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@ -0,0 +1,136 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Stefan Kohlbrecher</author>
<authoring_tool>Blender 2.61.4 r44005</authoring_tool>
</contributor>
<created>2012-02-12T11:41:54</created>
<modified>2012-02-12T11:41:54</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="plywood256x256_jpg" name="plywood256x256_jpg">
<init_from>plywood256x256.jpg</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_002-effect">
<profile_COMMON>
<newparam sid="plywood256x256_jpg-surface">
<surface type="2D">
<init_from>plywood256x256_jpg</init_from>
</surface>
</newparam>
<newparam sid="plywood256x256_jpg-sampler">
<sampler2D>
<source>plywood256x256_jpg-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<texture texture="plywood256x256_jpg-sampler" texcoord="UVMap"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
<extra>
<technique profile="GOOGLEEARTH">
<double_sided>1</double_sided>
</technique>
</extra>
</profile_COMMON>
<extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
</effect>
</library_effects>
<library_materials>
<material id="Material_002-material" name="Material.002">
<instance_effect url="#Material_002-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube_001-mesh" name="Cube.001">
<mesh>
<source id="Cube_001-mesh-positions">
<float_array id="Cube_001-mesh-positions-array" count="120">0.59 0.59 1.08 0.59 -0.59 1.08 -0.5900002 -0.5899999 1.08 -0.5899999 0.5900003 1.08 0.5900003 0.5899997 1.2 0.5899996 -0.5900004 1.2 -0.5900003 -0.5899998 1.2 -0.59 0.59 1.2 -0.4899999 0.4900001 1.08 -0.4900001 -0.49 1.08 0.49 -0.4900001 1.08 0.49 0.4899999 1.08 0.49 0.4899999 1.18 0.49 -0.4900001 1.18 -0.4900001 -0.49 1.18 -0.4899999 0.4900001 1.18 0.49 0.5900002 1.08 -0.49 0.5900002 1.08 0.59 -0.49 1.08 0.59 0.49 1.08 0.49 -0.59 1.08 -0.49 -0.5899999 1.08 -0.59 -0.49 1.08 -0.5899999 0.49 1.08 -0.59 -0.49 0 -0.49 -0.5899999 0 -0.4900001 -0.49 0 -0.5900002 -0.5899999 0 0.49 -0.59 0 0.59 -0.49 0 0.49 -0.4900001 0 0.59 -0.59 0 0.59 0.49 0 0.49 0.5900002 0 0.49 0.4899999 0 0.59 0.59 0 -0.5899999 0.49 0 -0.49 0.5900002 0 -0.4899999 0.4900001 0 -0.5899999 0.5900003 0</float_array>
<technique_common>
<accessor source="#Cube_001-mesh-positions-array" count="40" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube_001-mesh-normals">
<float_array id="Cube_001-mesh-normals-array" count="228">3.03074e-7 1 3.72108e-6 1.19209e-6 1 2.98023e-6 0 1 1.5408e-6 5.96047e-7 1 1.98682e-6 1 -5.55636e-7 2.5172e-6 1 0 2.98023e-6 1 0 -2.48353e-6 1 0 -2.48353e-6 -5.05124e-7 -1 -3.056e-6 -5.96047e-7 -1 -2.98023e-6 0 -1 9.93411e-7 0 -1 9.42726e-7 -1 2.52562e-7 -2.27306e-6 -1 1.19209e-6 -1.49012e-6 -1 5.96045e-7 -1.49011e-6 -1 1.21642e-7 -1.09478e-6 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1 0 0 -1 0 0 0 0 -1 0 0 -1 1 1.49012e-6 0 1 1.49012e-6 0 -2.98024e-7 1 0 -2.98024e-7 1 0 0 0 -1 0 0 -1 8.94069e-7 -1 0 8.94069e-7 -1 0 1 1.19209e-6 0 1 1.19209e-6 0 0 0 -1 0 0 -1 -1 0 0 -1 0 0 8.9407e-7 -1 0 8.9407e-7 -1 0 0 0 -1 0 0 -1 -5.96047e-7 1 0 -5.96047e-7 1 0 5.96047e-7 1 0 5.96047e-7 1 0 -1 5.96045e-7 0 -1 5.96045e-7 0 1.19209e-6 1 0 1.19209e-6 1 0 1 0 0 1 0 0 1 0 0 1 0 0 -5.96047e-7 -1 0 -5.96047e-7 -1 0 0 -1 0 0 -1 0 -1 1.19209e-6 0 -1 1.19209e-6 0 0 0 -1 0 0 -1 1 -2.73695e-7 0 1 -2.73695e-7 0 -1.82463e-7 -1 0 -1.82463e-7 -1 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 0 1 0 0 1</float_array>
<technique_common>
<accessor source="#Cube_001-mesh-normals-array" count="76" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube_001-mesh-map-0">
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<technique_common>
<accessor source="#Cube_001-mesh-map-0-array" count="228" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube_001-mesh-vertices">
<input semantic="POSITION" source="#Cube_001-mesh-positions"/>
</vertices>
<polylist material="Material_0021" count="76">
<input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>16 0 0 7 0 1 4 0 2 0 1 3 16 1 4 4 1 5 16 2 6 17 2 7 7 2 8 17 3 9 3 3 10 7 3 11 18 4 12 4 4 13 5 4 14 1 5 15 18 5 16 5 5 17 18 6 18 19 6 19 4 6 20 19 7 21 0 7 22 4 7 23 20 8 24 5 8 25 6 8 26 20 9 27 1 9 28 5 9 29 2 10 30 21 10 31 6 10 32 21 11 33 20 11 34 6 11 35 22 12 36 6 12 37 7 12 38 22 13 39 2 13 40 6 13 41 3 14 42 23 14 43 7 14 44 23 15 45 22 15 46 7 15 47 28 16 48 30 16 49 29 16 50 28 17 51 29 17 52 31 17 53 24 18 54 26 18 55 25 18 56 24 19 57 25 19 58 27 19 59 36 20 60 39 20 61 37 20 62 36 21 63 37 21 64 38 21 65 32 22 66 34 22 67 33 22 68 32 23 69 33 23 70 35 23 71 10 24 72 30 24 73 28 24 74 10 25 75 28 25 76 20 25 77 9 26 78 10 26 79 21 26 80 10 27 81 20 27 82 21 27 83 9 28 84 21 28 85 25 28 86 9 29 87 25 29 88 26 29 89 9 30 90 26 30 91 24 30 92 9 31 93 24 31 94 22 31 95 8 32 96 9 32 97 23 32 98 9 33 99 22 33 100 23 33 101 8 34 102 23 34 103 36 34 104 8 35 105 36 35 106 38 35 107 8 36 108 38 36 109 37 36 110 8 37 111 37 37 112 17 37 113 8 38 114 17 38 115 16 38 116 8 39 117 16 39 118 11 39 119 11 40 120 16 40 121 33 40 122 11 41 123 33 41 124 34 41 125 11 42 126 34 42 127 32 42 128 11 43 129 32 43 130 19 43 131 10 44 132 11 44 133 18 44 134 11 45 135 19 45 136 18 45 137 10 46 138 18 46 139 29 46 140 10 47 141 29 47 142 30 47 143 3 48 144 17 48 145 37 48 146 3 49 147 37 49 148 39 49 149 23 50 150 3 50 151 39 50 152 23 51 153 39 51 154 36 51 155 16 52 156 0 52 157 35 52 158 16 53 159 35 53 160 33 53 161 0 54 162 19 54 163 32 54 164 0 55 165 32 55 166 35 55 167 18 56 168 1 56 169 31 56 170 18 57 171 31 57 172 29 57 173 1 58 174 20 58 175 28 58 176 1 59 177 28 59 178 31 59 179 21 60 180 2 60 181 27 60 182 21 61 183 27 61 184 25 61 185 2 62 186 22 62 187 24 62 188 2 63 189 24 63 190 27 63 191 14 64 192 15 64 193 12 64 194 14 65 195 12 65 196 13 65 197 8 66 198 15 66 199 14 66 200 8 67 201 14 67 202 9 67 203 11 68 204 12 68 205 15 68 206 11 69 207 15 69 208 8 69 209 10 70 210 13 70 211 12 70 212 10 71 213 12 71 214 11 71 215 9 72 216 14 72 217 13 72 218 9 73 219 13 73 220 10 73 221 4 74 222 7 74 223 6 74 224 4 75 225 6 75 226 5 75 227</p>
</polylist>
</mesh>
<extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" type="NODE">
<translate sid="location">0 0 0</translate>
<rotate sid="rotationZ">0 0 1 0</rotate>
<rotate sid="rotationY">0 1 0 0</rotate>
<rotate sid="rotationX">1 0 0 0</rotate>
<scale sid="scale">1 1 1</scale>
<instance_geometry url="#Cube_001-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material_0021" target="#Material_002-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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nist_elevated_floor_120/model.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="nist_elevated_floor_120">
<static>true</static>
<link name="nist_elevated_floor_120">
<pose>0 0 0.0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</gazebo>

17
nist_fiducial_barrel/manifest.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0"?>
<model>
<name>NIST fiducial barrel</name>
<version>1.0</version>
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NIST standard test arena fiducial barrel
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103
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nist_maze_wall_120/manifest.xml Normal file
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1.2m high NIST standard test arena maze wall
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nist_maze_wall_triple_holes_120/manifest.xml Normal file
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nist_maze_wall_triple_holes_120/model.sdf Normal file
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nist_stairs_120/manifest.xml Normal file
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25
nist_stairs_120/model.sdf Normal file
View File

@ -0,0 +1,25 @@
<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="nist_stairs_120">
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<scale>1 1 1</scale>
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</visual>
</link>
</model>
</gazebo>

6
sun/model.sdf
View File

@ -10,10 +10,10 @@
<attenuation>
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