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Merge pull request Field-Robotics-Lab#209 from Field-Robotics-Lab/fea…
…ture/bsb/moremodels More new models.
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models/dave_object_models/models/hardhat_octagonal/meshes/hardhat_octagonal.dae
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models/dave_object_models/models/hardhat_octagonal/meshes/hardhat_octagonal_collision.dae
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models/dave_object_models/models/hardhat_octagonal/meshes/octagonal.png
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models/dave_object_models/models/hardhat_octagonal/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <model> | ||
| <name>hardhat_octagonal</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
|
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||
| <author> | ||
| <name>Brian Bingham</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
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||
| <description> | ||
| Hardhat octagonal. | ||
| </description> | ||
| </model> |
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models/dave_object_models/models/hardhat_octagonal/model.sdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.6"> | ||
| <model name="hardhat_octagonal"> | ||
| <static>false</static> | ||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass>17.7</mass> | ||
| <inertia> | ||
| <ixx>0.55</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>0.55</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>0.55</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_octagonal/meshes/hardhat_octagonal.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_octagonal/meshes/hardhat_octagonal_collision.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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models/dave_object_models/models/hardhat_ribbed/meshes/hardhat_ribbed.dae
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models/dave_object_models/models/hardhat_ribbed/meshes/hardhat_ribbed_collision.dae
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models/dave_object_models/models/hardhat_ribbed/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <model> | ||
| <name>hardhat_ribbed</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
|
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| <author> | ||
| <name>Brian Bingham</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
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||
| <description> | ||
| Hardhat ribbed. | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.6"> | ||
| <model name="hardhat_ribbed"> | ||
| <static>false</static> | ||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass>17.7</mass> | ||
| <inertia> | ||
| <ixx>0.55</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>0.55</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>0.55</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_ribbed/meshes/hardhat_ribbed.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_ribbed/meshes/hardhat_ribbed_collision.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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models/dave_object_models/models/hardhat_standard/inertial_calcs.py
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| ''' | ||
| iPython script to calculate inertial properties | ||
| ''' | ||
| from math import pi | ||
|
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| # Mass [kg] | ||
| m = 17.7 | ||
| # Diameter [m] | ||
| d = 0.432 | ||
|
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| print("Mass %f kg"%m) | ||
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| ixx = 2.0/3.0*m*(d/2)**2 | ||
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| print("ixx = iyy = izz = %f"%(ixx)) |
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models/dave_object_models/models/hardhat_standard/meshes/hardhat_standard.dae
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models/dave_object_models/models/hardhat_standard/meshes/hardhat_standard.png
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models/dave_object_models/models/hardhat_standard/meshes/hardhat_standard_collision.dae
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models/dave_object_models/models/hardhat_standard/model.config
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
|
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| <model> | ||
| <name>hardhat_standard</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
|
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| <author> | ||
| <name>Brian Bingham</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
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| <description> | ||
| Hardhat standard. | ||
| </description> | ||
| </model> |
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models/dave_object_models/models/hardhat_standard/model.sdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.6"> | ||
| <model name="hardhat_standard"> | ||
| <static>false</static> | ||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass>17.7</mass> | ||
| <inertia> | ||
| <ixx>0.55</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>0.55</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>0.55</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_standard/meshes/hardhat_standard.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_standard/meshes/hardhat_standard_collision.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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models/dave_object_models/models/hardhat_superribbed/meshes/hardhat_superribbed.dae
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...ls/dave_object_models/models/hardhat_superribbed/meshes/hardhat_superribbed_collision.dae
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models/dave_object_models/models/hardhat_superribbed/meshes/superribbed.png
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models/dave_object_models/models/hardhat_superribbed/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
|
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||
| <model> | ||
| <name>hardhat_superribbed</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
|
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||
| <author> | ||
| <name>Brian Bingham</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
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||
| <description> | ||
| Hardhat superribbed. | ||
| </description> | ||
| </model> |
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models/dave_object_models/models/hardhat_superribbed/model.sdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.6"> | ||
| <model name="hardhat_superribbed"> | ||
| <static>false</static> | ||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass>17.7</mass> | ||
| <inertia> | ||
| <ixx>0.55</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>0.55</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>0.55</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_superribbed/meshes/hardhat_superribbed.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://hardhat_superribbed/meshes/hardhat_superribbed_collision.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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models/dave_object_models/models/mbari_mars/meshes/mbari_mars.dae
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models/dave_object_models/models/mbari_mars/meshes/mbari_mars_collision.dae
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> | ||
| <asset> | ||
| <contributor> | ||
| <author>Blender User</author> | ||
| <authoring_tool>Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776</authoring_tool> | ||
| </contributor> | ||
| <created>2022-02-18T12:27:11</created> | ||
| <modified>2022-02-18T12:27:11</modified> | ||
| <unit name="meter" meter="1"/> | ||
| <up_axis>Z_UP</up_axis> | ||
| </asset> | ||
| <library_effects/> | ||
| <library_images/> | ||
| <library_geometries> | ||
| <geometry id="Cube-mesh" name="Cube"> | ||
| <mesh> | ||
| <source id="Cube-mesh-positions"> | ||
| <float_array id="Cube-mesh-positions-array" count="36">-3.610062 -3.021536 0 -1.927828 -1.548406 1.606947 -3.610062 3.021536 0 -1.927828 1.548406 1.606947 3.610062 -3.021536 0 1.927828 -1.548406 1.606947 3.610062 3.021536 0 1.927828 1.548406 1.606947 -3.610062 -3.021536 0.2118949 -3.610062 3.021536 0.2118949 3.610062 3.021536 0.2118949 3.610062 -3.021536 0.2118949</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-positions-array" count="12" stride="3"> | ||
| <param name="X" type="float"/> | ||
| <param name="Y" type="float"/> | ||
| <param name="Z" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <source id="Cube-mesh-normals"> | ||
| <float_array id="Cube-mesh-normals-array" count="42">-0.6383436 0 0.7697516 0 0.6876032 0.7260867 0.6383436 0 0.7697516 0 -0.6876032 0.7260867 0 0 -1 0 0 1 0 -1 0 1 0 0 0 1 0 -1 0 0 -0.6383436 0 0.7697516 0 0.6876032 0.7260867 0.6383436 0 0.7697516 0 -0.6876032 0.7260867</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-normals-array" count="14" stride="3"> | ||
| <param name="X" type="float"/> | ||
| <param name="Y" type="float"/> | ||
| <param name="Z" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <source id="Cube-mesh-map-0"> | ||
| <float_array id="Cube-mesh-map-0-array" count="120">0.625 0 0.4012097 0.25 0.4012097 0 0.625 0.25 0.4012097 0.5 0.4012097 0.25 0.625 0.5 0.4012097 0.75 0.4012097 0.5 0.625 0.75 0.4012097 1 0.4012097 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.4012097 0.75 0.375 1 0.375 0.75 0.4012097 0.5 0.375 0.75 0.375 0.5 0.4012097 0.25 0.375 0.5 0.375 0.25 0.4012097 0 0.375 0.25 0.375 0 0.625 0 0.625 0.25 0.4012097 0.25 0.625 0.25 0.625 0.5 0.4012097 0.5 0.625 0.5 0.625 0.75 0.4012097 0.75 0.625 0.75 0.625 1 0.4012097 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.4012097 0.75 0.4012097 1 0.375 1 0.4012097 0.5 0.4012097 0.75 0.375 0.75 0.4012097 0.25 0.4012097 0.5 0.375 0.5 0.4012097 0 0.4012097 0.25 0.375 0.25</float_array> | ||
| <technique_common> | ||
| <accessor source="#Cube-mesh-map-0-array" count="60" stride="2"> | ||
| <param name="S" type="float"/> | ||
| <param name="T" type="float"/> | ||
| </accessor> | ||
| </technique_common> | ||
| </source> | ||
| <vertices id="Cube-mesh-vertices"> | ||
| <input semantic="POSITION" source="#Cube-mesh-positions"/> | ||
| </vertices> | ||
| <triangles count="20"> | ||
| <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/> | ||
| <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/> | ||
| <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/> | ||
| <p>1 0 0 9 0 1 8 0 2 3 1 3 10 1 4 9 1 5 7 2 6 11 2 7 10 2 8 5 3 9 8 3 10 11 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 11 6 18 0 6 19 4 6 20 10 7 21 4 7 22 6 7 23 9 8 24 6 8 25 2 8 26 8 9 27 2 9 28 0 9 29 1 10 30 3 10 31 9 10 32 3 11 33 7 11 34 10 11 35 7 12 36 5 12 37 11 12 38 5 13 39 1 13 40 8 13 41 6 4 42 4 4 43 0 4 44 3 5 45 1 5 46 5 5 47 11 6 48 8 6 49 0 6 50 10 7 51 11 7 52 4 7 53 9 8 54 10 8 55 6 8 56 8 9 57 9 9 58 2 9 59</p> | ||
| </triangles> | ||
| </mesh> | ||
| </geometry> | ||
| </library_geometries> | ||
| <library_visual_scenes> | ||
| <visual_scene id="Scene" name="Scene"> | ||
| <node id="COLLISION-MBARI_MARS" name="COLLISION-MBARI_MARS" type="NODE"> | ||
| <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> | ||
| <instance_geometry url="#Cube-mesh" name="COLLISION-MBARI_MARS"/> | ||
| </node> | ||
| </visual_scene> | ||
| </library_visual_scenes> | ||
| <scene> | ||
| <instance_visual_scene url="#Scene"/> | ||
| </scene> | ||
| </COLLADA> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
|
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| <model> | ||
| <name>mbari_mars</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
|
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| <author> | ||
| <name>Brian Bingham</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
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| <description> | ||
| MBARI MARS https://www.mbari.org/at-sea/cabled-observatory/ | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.6"> | ||
| <model name="mbari_mars"> | ||
| <static>false</static> | ||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass>100</mass> | ||
| <inertia> | ||
| <ixx>5</ixx> | ||
| <ixy>0.0</ixy> | ||
| <ixz>0.0</ixz> | ||
| <iyy>5</iyy> | ||
| <iyz>0.0</iyz> | ||
| <izz>5</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://mbari_mars/meshes/mbari_mars.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="collision"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://mbari_mars/meshes/mbari_mars_collision.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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