From ea2b7cc8520b79f74d2916037040fd1073365149 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@osrfoundation.org>
Date: Tue, 21 Oct 2014 15:52:14 -0700
Subject: [PATCH] Updated mesh for round_tin_base

---
 round_tin_base/meshes/round_tin_base.dae | 150 +++++++++++++++++++----
 round_tin_base/model.rsdf                |  62 ++++++++--
 round_tin_base/model.sdf                 |  45 ++++++-
 3 files changed, 217 insertions(+), 40 deletions(-)

diff --git a/round_tin_base/meshes/round_tin_base.dae b/round_tin_base/meshes/round_tin_base.dae
index ce8de30..f92cf43 100644
--- a/round_tin_base/meshes/round_tin_base.dae
+++ b/round_tin_base/meshes/round_tin_base.dae
@@ -1,27 +1,123 @@
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-<comments/>
-<copyright/>
-<source_data/>
-</contributor>
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-<modified>2014-10-08T21:52:16</modified>
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+                    <technique_common>
+                        <accessor count="144" source="#ID8" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
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+                    <technique_common>
+                        <accessor count="144" source="#ID9" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID7">
+                    <input semantic="POSITION" source="#ID5" />
+                    <input semantic="NORMAL" source="#ID6" />
+                </vertices>
+                <triangles count="144" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID7" />
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+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID10">
+            <mesh>
+                <source id="ID11">
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+                    <technique_common>
+                        <accessor count="48" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
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+                    <technique_common>
+                        <accessor count="48" source="#ID15" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID13">
+                    <input semantic="POSITION" source="#ID11" />
+                    <input semantic="NORMAL" source="#ID12" />
+                </vertices>
+                <triangles count="48" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID13" />
+                    <p>0 1 2 1 0 3 0 4 5 4 0 2 3 6 1 6 3 7 5 8 9 8 5 4 7 10 6 10 7 11 9 12 13 12 9 8 11 14 10 14 11 15 13 16 17 16 13 12 15 18 14 18 15 19 17 20 21 20 17 16 19 22 18 22 19 23 21 24 25 24 21 20 22 26 27 26 22 23 28 24 29 24 28 25 27 30 31 30 27 26 32 29 33 29 32 28 31 34 35 34 31 30 36 33 37 33 36 32 35 38 39 38 35 34 40 37 41 37 40 36 39 42 43 42 39 38 44 41 45 41 44 40 43 46 47 46 43 42 46 45 47 45 46 44</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID4" name="material">
+            <instance_effect url="#ID3" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID3">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1.0000000 1.0000000 1.0000000 1.0000000</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
diff --git a/round_tin_base/model.rsdf b/round_tin_base/model.rsdf
index 896b94b..e286de4 100644
--- a/round_tin_base/model.rsdf
+++ b/round_tin_base/model.rsdf
@@ -4,21 +4,29 @@
 
   # Geometry
 
-  d = 0.08
-  r = d/2.0
+  diameter = 0.08
+  radius = diameter/2.0
   height = 0.02817
 
+  # mesh height offset
+  mesh_dz = 0.00017
+  mesh_pose = "<pose>0 0 #{mesh_dz}  0 0 0</pose>"
+
+  # base cylinder height
+  cylinder_height = 0.001
+  cylinder_pose = "<pose>0 0 #{cylinder_height/2}  0 0 0</pose>"
+
   # Inertia: approximate as a thin-walled cylindrical tube (not accurate)
   mass = 0.0223
-  ixx  = mass*(r**2/2 + height**2/12)
-  iyy  = mass*(r**2/2 + height**2/12)
-  izz  = mass*r**2
+  ixx  = mass*(radius**2/2 + height**2/12)
+  iyy  = ixx
+  izz  = mass*radius**2
 %>
 <sdf version="1.5">
   <model name="round_tin_base">
     <link name="link">
-      <pose>0 0 <%= height/2 %> 0 0 0</pose>
       <inertial>
+        <pose>0 0 <%= height/2 %> 0 0 0</pose>
         <mass><%= mass %></mass>
         <inertia>
           <ixx><%= ixx %></ixx>
@@ -30,7 +38,42 @@
         </inertia>
       </inertial>
 
-      <collision name="collision">
+      <collision name="collision_cylinder">
+        <%= cylinder_pose %>
+        <geometry>
+          <cylinder>
+            <radius><%= radius %></radius>
+            <length><%= cylinder_height %></length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="visual_mesh">
+        <%= cylinder_pose %>
+        <geometry>
+          <cylinder>
+            <radius><%= radius %></radius>
+            <length><%= cylinder_height %></length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Gray</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_mesh">
+        <%= mesh_pose %>
         <geometry>
           <mesh>
             <uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
@@ -40,13 +83,14 @@
           <contact>
             <ode>
               <max_vel>0.1</max_vel>
-              <min_depth>0.001</min_depth>
+              <min_depth>0.0001</min_depth>
             </ode>
           </contact>
         </surface>
       </collision>
 
-      <visual name="visual">
+      <visual name="visual_mesh">
+        <%= mesh_pose %>
         <geometry>
           <mesh>
             <uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
diff --git a/round_tin_base/model.sdf b/round_tin_base/model.sdf
index dcf5b0c..0159052 100644
--- a/round_tin_base/model.sdf
+++ b/round_tin_base/model.sdf
@@ -1,9 +1,10 @@
 <?xml version="1.0" ?>
+
 <sdf version="1.5">
   <model name="round_tin_base">
     <link name="link">
-      <pose>0 0 0.014085 0 0 0</pose>
       <inertial>
+        <pose>0 0 0.014085 0 0 0</pose>
         <mass>0.0223</mass>
         <inertia>
           <ixx>1.93146783725e-05</ixx>
@@ -15,7 +16,42 @@
         </inertia>
       </inertial>
 
-      <collision name="collision">
+      <collision name="collision_cylinder">
+        <pose>0 0 0.0005  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.04</radius>
+            <length>0.001</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="visual_mesh">
+        <pose>0 0 0.0005  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.04</radius>
+            <length>0.001</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Gray</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name="collision_mesh">
+        <pose>0 0 0.00017  0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
@@ -25,13 +61,14 @@
           <contact>
             <ode>
               <max_vel>0.1</max_vel>
-              <min_depth>0.001</min_depth>
+              <min_depth>0.0001</min_depth>
             </ode>
           </contact>
         </surface>
       </collision>
 
-      <visual name="visual">
+      <visual name="visual_mesh">
+        <pose>0 0 0.00017  0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://round_tin_base/meshes/round_tin_base.dae</uri>