diff --git a/README.txt b/README.txt new file mode 100644 index 0000000000000000000000000000000000000000..885bddc57e08022e0dcf408c0884e99f806d25d0 --- /dev/null +++ b/README.txt @@ -0,0 +1,4 @@ +Run this command in a console to let GAZEBO find these models +============================================================= + +echo export GAZEBO_MODEL_PATH=\""`pwd`/\"" >> ~/.bashrc diff --git a/lab_table/manifest.xml b/lab_table/manifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..17e7156f6f6a596f8d427cf1ad300c0af70c9ced --- /dev/null +++ b/lab_table/manifest.xml @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Lab. Table</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + Laboratory table at IRI. + </description> +</model> diff --git a/lab_table/meshes/lab_table.dae b/lab_table/meshes/lab_table.dae new file mode 100644 index 0000000000000000000000000000000000000000..320a9bb04f3470b834ab0c2ef3dd375516d469ad --- /dev/null +++ b/lab_table/meshes/lab_table.dae @@ -0,0 +1,328 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool> + </contributor> + <created>2015-02-11T17:26:31</created> + <modified>2015-02-11T17:26:31</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + <aspect_ratio>1.777778</aspect_ratio> + <znear sid="znear">0.1</znear> + <zfar sid="zfar">100</zfar> + </perspective> + </technique_common> + </optics> + <extra> + <technique profile="blender"> + <YF_dofdist>0</YF_dofdist> + <shiftx>0</shiftx> + <shifty>0</shifty> + </technique> + </extra> + </camera> + </library_cameras> + <library_lights> + <light id="Lamp-light" name="Lamp"> + <technique_common> + <point> + <color sid="color">1 1 1</color> + <constant_attenuation>1</constant_attenuation> + <linear_attenuation>0</linear_attenuation> + <quadratic_attenuation>0.00111109</quadratic_attenuation> + </point> + </technique_common> + <extra> + <technique profile="blender"> + <adapt_thresh>0.000999987</adapt_thresh> + <area_shape>1</area_shape> + <area_size>0.1</area_size> + <area_sizey>0.1</area_sizey> + <area_sizez>1</area_sizez> + <atm_distance_factor>1</atm_distance_factor> + <atm_extinction_factor>1</atm_extinction_factor> + <atm_turbidity>2</atm_turbidity> + <att1>0</att1> + <att2>1</att2> + <backscattered_light>1</backscattered_light> + <bias>1</bias> + <blue>1</blue> + <buffers>1</buffers> + <bufflag>0</bufflag> + <bufsize>2880</bufsize> + <buftype>2</buftype> + <clipend>30.002</clipend> + <clipsta>1.000799</clipsta> + <compressthresh>0.04999995</compressthresh> + <dist sid="blender_dist">29.99998</dist> + <energy sid="blender_energy">1</energy> + <falloff_type>2</falloff_type> + <filtertype>0</filtertype> + <flag>0</flag> + <gamma sid="blender_gamma">1</gamma> + <green>1</green> + <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> + <horizon_brightness>1</horizon_brightness> + <mode>8192</mode> + <ray_samp>1</ray_samp> + <ray_samp_method>1</ray_samp_method> + <ray_samp_type>0</ray_samp_type> + <ray_sampy>1</ray_sampy> + <ray_sampz>1</ray_sampz> + <red>1</red> + <samp>3</samp> + <shadhalostep>0</shadhalostep> + <shadow_b sid="blender_shadow_b">0</shadow_b> + <shadow_g sid="blender_shadow_g">0</shadow_g> + <shadow_r sid="blender_shadow_r">0</shadow_r> + <sky_colorspace>0</sky_colorspace> + <sky_exposure>1</sky_exposure> + <skyblendfac>1</skyblendfac> + <skyblendtype>1</skyblendtype> + <soft>3</soft> + <spotblend>0.15</spotblend> + <spotsize>75</spotsize> + <spread>1</spread> + <sun_brightness>1</sun_brightness> + <sun_effect_type>0</sun_effect_type> + <sun_intensity>1</sun_intensity> + <sun_size>1</sun_size> + <type>0</type> + </technique> + </extra> + </light> + </library_lights> + <library_images/> + <library_effects> + <effect id="Material_001-effect"> + <profile_COMMON> + <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> + <color sid="diffuse">0.64 0.573846 0.4000914 1</color> + </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> + </profile_COMMON> + </effect> + </library_effects> + <library_materials> + <material id="Material_001-material" name="Material_001"> + <instance_effect url="#Material_001-effect"/> + </material> + </library_materials> + <library_geometries> + <geometry id="Cube_002-mesh" name="Cube.002"> + <mesh> + <source id="Cube_002-mesh-positions"> + <float_array id="Cube_002-mesh-positions-array" count="24">-1 52.54545 0 -1 54.54545 0 1 54.54545 0 1 52.54545 0 -1 52.54545 2 -1 54.54545 2 1 54.54545 2 1 52.54545 2</float_array> + <technique_common> + <accessor source="#Cube_002-mesh-positions-array" count="8" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Cube_002-mesh-normals"> + <float_array id="Cube_002-mesh-normals-array" count="36">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array> + <technique_common> + <accessor source="#Cube_002-mesh-normals-array" count="12" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cube_002-mesh-vertices"> + <input semantic="POSITION" source="#Cube_002-mesh-positions"/> + </vertices> + <polylist material="Material_001-material" count="12"> + <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount> + <p>4 0 5 0 1 0 5 1 6 1 2 1 6 2 7 2 3 2 7 3 4 3 0 3 0 4 1 4 2 4 7 5 6 5 5 5 0 6 4 6 1 6 1 7 5 7 2 7 2 8 6 8 3 8 3 9 7 9 0 9 3 10 0 10 2 10 4 11 7 11 5 11</p> + </polylist> + </mesh> + </geometry> + <geometry id="Cube-mesh" name="Cube"> + <mesh> + <source id="Cube-mesh-positions"> + <float_array id="Cube-mesh-positions-array" count="24">1 1 58.45454 1 -1 58.45454 -1 -0.9999998 58.45454 -0.9999995 1 58.45454 1 0.9999995 60.45454 0.9999994 -1.000001 60.45454 -1 -0.9999997 60.45454 -0.9999999 1 60.45454</float_array> + <technique_common> + <accessor source="#Cube-mesh-positions-array" count="8" 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="36">0 0 -1 0 0 1 1 -5.36442e-7 2.98023e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 1.78814e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 -1.19209e-7 -1 -2.98023e-7 -1 2.98023e-7 -1.78814e-7 2.38419e-7 1 2.38419e-7</float_array> + <technique_common> + <accessor source="#Cube-mesh-normals-array" count="12" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cube-mesh-vertices"> + <input semantic="POSITION" source="#Cube-mesh-positions"/> + </vertices> + <polylist material="Material_001-material" count="12"> + <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount> + <p>0 0 1 0 2 0 7 1 6 1 5 1 4 2 5 2 1 2 5 3 6 3 2 3 2 4 6 4 7 4 0 5 3 5 7 5 3 6 0 6 2 6 4 7 7 7 5 7 0 8 4 8 1 8 1 9 5 9 2 9 3 10 2 10 7 10 4 11 0 11 7 11</p> + </polylist> + </mesh> + </geometry> + <geometry id="Cube_001-mesh" name="Cube.001"> + <mesh> + <source id="Cube_001-mesh-positions"> + <float_array id="Cube_001-mesh-positions-array" count="24">-1 -54.54545 0 -1 -52.54545 0 1 -52.54545 0 1 -54.54545 0 -1 -54.54545 2 -1 -52.54545 2 1 -52.54545 2 1 -54.54545 2</float_array> + <technique_common> + <accessor source="#Cube_001-mesh-positions-array" count="8" 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="36">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array> + <technique_common> + <accessor source="#Cube_001-mesh-normals-array" count="12" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cube_001-mesh-vertices"> + <input semantic="POSITION" source="#Cube_001-mesh-positions"/> + </vertices> + <polylist material="Material_001-material" count="12"> + <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount> + <p>4 0 5 0 1 0 5 1 6 1 2 1 6 2 7 2 3 2 7 3 4 3 0 3 0 4 1 4 2 4 7 5 6 5 5 5 0 6 4 6 1 6 1 7 5 7 2 7 2 8 6 8 3 8 3 9 7 9 0 9 3 10 0 10 2 10 4 11 7 11 5 11</p> + </polylist> + </mesh> + </geometry> + <geometry id="Cube_003-mesh" name="Cube.003"> + <mesh> + <source id="Cube_003-mesh-positions"> + <float_array id="Cube_003-mesh-positions-array" count="24">-19.5 -1 1.282051 -19.5 1 1.282051 -17.5 1 1.282051 -17.5 -1 1.282051 -19.5 -1 3.282051 -19.5 1 3.282051 -17.5 1 3.282051 -17.5 -1 3.282051</float_array> + <technique_common> + <accessor source="#Cube_003-mesh-positions-array" count="8" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Cube_003-mesh-normals"> + <float_array id="Cube_003-mesh-normals-array" count="36">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array> + <technique_common> + <accessor source="#Cube_003-mesh-normals-array" count="12" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cube_003-mesh-vertices"> + <input semantic="POSITION" source="#Cube_003-mesh-positions"/> + </vertices> + <polylist material="Material_001-material" count="12"> + <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount> + <p>4 0 5 0 1 0 5 1 6 1 2 1 6 2 7 2 3 2 7 3 4 3 0 3 0 4 1 4 2 4 7 5 6 5 5 5 0 6 4 6 1 6 1 7 5 7 2 7 2 8 6 8 3 8 3 9 7 9 0 9 3 10 0 10 2 10 4 11 7 11 5 11</p> + </polylist> + </mesh> + </geometry> + </library_geometries> + <library_controllers/> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="Lateral_right" name="Lateral_right" type="NODE"> + <matrix sid="transform">-0.325 1.4774e-8 0 0 -4.36504e-7 -0.011 0 0 0 0 0.32 0 0 0 0 1</matrix> + <instance_geometry url="#Cube_002-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_001-material" target="#Material_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Camera" name="Camera" type="NODE"> + <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix> + <instance_camera url="#Camera-camera"/> + </node> + <node id="Lamp" name="Lamp" type="NODE"> + <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> + <instance_light url="#Lamp-light"/> + </node> + <node id="Top" name="Top" type="NODE"> + <matrix sid="transform">-0.3249998 8.05853e-7 0 0 -4.36504e-7 -0.5999997 0 0 0 0 0.011 0 0 0 0 1</matrix> + <instance_geometry url="#Cube-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_001-material" target="#Material_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Lateral_left" name="Lateral_left" type="NODE"> + <matrix sid="transform">-0.325 1.4774e-8 0 0 -4.36504e-7 -0.011 0 0 0 0 0.32 0 0 0 0 1</matrix> + <instance_geometry url="#Cube_001-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_001-material" target="#Material_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Back" name="Back" type="NODE"> + <matrix sid="transform">-0.01 7.91079e-7 0 0 -1.34309e-8 -0.589 0 0 0 0 0.195 5.96046e-8 0 0 0 1</matrix> + <instance_geometry url="#Cube_003-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_001-material" target="#Material_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/lab_table/meshes/lab_table.stl b/lab_table/meshes/lab_table.stl new file mode 100644 index 0000000000000000000000000000000000000000..67ad668f406b2f902c621ac85e0bc97580a51caa Binary files /dev/null and b/lab_table/meshes/lab_table.stl differ diff --git a/lab_table/model-1_4.sdf b/lab_table/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..51ccd28fe4b1254f48e66c5cc089bc5635dc2c87 --- /dev/null +++ b/lab_table/model-1_4.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.4"> + <model name="lab_table"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>7.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/lab_table/meshes/lab_table.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/lab_table/meshes/lab_table.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/lab_table/model.config b/lab_table/model.config new file mode 100644 index 0000000000000000000000000000000000000000..17e7156f6f6a596f8d427cf1ad300c0af70c9ced --- /dev/null +++ b/lab_table/model.config @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Lab. Table</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + Laboratory table at IRI. + </description> +</model> diff --git a/lab_table/model.sdf b/lab_table/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..d069600b3370a0655e00253fd01f43a12820e08e --- /dev/null +++ b/lab_table/model.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="lab_table"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>7.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/lab_table/meshes/lab_table.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/lab_table/meshes/lab_table.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/tobacco_leaf/manifest.xml b/tobacco_leaf/manifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..edb573dee67eef54b6ffaf94e3d0754ced21309c --- /dev/null +++ b/tobacco_leaf/manifest.xml @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Tobacco Leaf</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + A Tobacco Leaf. + </description> +</model> diff --git a/tobacco_leaf/meshes/tobacco_leaf.dae b/tobacco_leaf/meshes/tobacco_leaf.dae new file mode 100644 index 0000000000000000000000000000000000000000..a5f5ed3dcb37be46ce05d9787d36ec1d1b741431 --- /dev/null +++ b/tobacco_leaf/meshes/tobacco_leaf.dae @@ -0,0 +1,218 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool> + </contributor> + <created>2015-01-10T17:11:09</created> + <modified>2015-01-10T17:11:09</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + <aspect_ratio>1.777778</aspect_ratio> + <znear sid="znear">0.1</znear> + <zfar 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6335 197 313 6336 313 315 6337 1174 310 6338 199 165 6339 1164 162 6340 83 1190 6341 199 165 6342 198 1182 6343 1164 162 6344 1164 162 6345 1166 161 6346 83 1190 6347 1189 296 6348 1160 1177 6349 1181 295 6350 1186 298 6351 1165 1183 6352 1188 297 6353 1176 300 6354 1161 1184 6355 1180 299 6356 1175 302 6357 1167 1185 6358 1185 301 6359 192 147 6360 1170 305 6361 1182 303 6362 82 160 6363 1164 162 6364 1190 157 6365 1179 151 6366 194 309 6367 1184 149 6368 1177 155 6369 196 312 6370 1187 153 6371 1181 295 6372 299 418 6373 1178 294 6374 1188 297 6375 1172 1178 6376 1189 296 6377 1180 299 6378 1162 1179 6379 1186 298 6380 1185 301 6381 1171 1180 6382 1176 300 6383 1182 303 6384 1169 1181 6385 1175 302 6386 1190 157 6387 197 313 6388 1177 155 6389 1187 153 6390 195 311 6391 1179 151 6392</p> + </polylist> + </mesh> + </geometry> + </library_geometries> + <library_controllers/> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="Tobacco_leaf_000" name="Tobacco_leaf_000" type="NODE"> + <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -0.002905369 0 0 0 1</matrix> + <instance_geometry url="#Mesh_001-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material-material" target="#Material-material"> + <bind_vertex_input semantic="Orco" input_semantic="TEXCOORD" input_set="0"/> + </instance_material> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Camera" name="Camera" type="NODE"> + <matrix sid="transform">1 0 0 0.04689377 0 1 0 0.009480081 0 0 1 4.315809 0 0 0 1</matrix> + <instance_camera url="#Camera-camera"/> + </node> + <node id="Sun" name="Sun" type="NODE"> + <matrix sid="transform">1 0 0 -0.9900537 0 1 0 0.2996713 0 0 1 2.929055 0 0 0 1</matrix> + <instance_light url="#Sun-light"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/tobacco_leaf/model-1_4.sdf b/tobacco_leaf/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..d727e1cf6f8c42e36fad31333d995e0370953162 --- /dev/null +++ b/tobacco_leaf/model-1_4.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.4"> + <model name="tobacco_leaf"> + <static>true</static> + <link name="link"> + <gravity>false</gravity> + <inertial> + <pose>0.0 0.0 0.10 0.0 0.0 0.0</pose> + <mass>0.100</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0.0 0.0 0.10 0.0 0.0 0.0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0.0 0.0 0.10 0.0 0.0 0.0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/tobacco_leaf/model.config b/tobacco_leaf/model.config new file mode 100644 index 0000000000000000000000000000000000000000..edb573dee67eef54b6ffaf94e3d0754ced21309c --- /dev/null +++ b/tobacco_leaf/model.config @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Tobacco Leaf</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + A Tobacco Leaf. + </description> +</model> diff --git a/tobacco_leaf/model.sdf b/tobacco_leaf/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..66d1033210b1910ca6509991740c032419d514bd --- /dev/null +++ b/tobacco_leaf/model.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="tobacco_leaf"> + <static>true</static> + <link name="link"> + <gravity>false</gravity> + <inertial> + <pose>0.0 0.0 0.05 0.0 0.0 0.0</pose> + <mass>0.100</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0.0 0.0 0.05 0.0 0.0 0.0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0.0 0.0 0.05 0.0 0.0 0.0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/wam_holder/manifest.xml b/wam_holder/manifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..60af2145bdb0a26550cea7ce8ff0de7b92c89f93 --- /dev/null +++ b/wam_holder/manifest.xml @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Wam Base Holder</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + Lab Wam base holder. + </description> +</model> diff --git a/wam_holder/meshes/wam_holder.dae b/wam_holder/meshes/wam_holder.dae new file mode 100644 index 0000000000000000000000000000000000000000..7130bd869f675ad5c67fef0597ede6246f5a2d8e --- /dev/null +++ b/wam_holder/meshes/wam_holder.dae @@ -0,0 +1,343 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool> + </contributor> + <created>2015-02-10T18:41:03</created> + <modified>2015-02-10T18:41:03</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + <aspect_ratio>1.777778</aspect_ratio> + <znear sid="znear">0.1</znear> + <zfar sid="zfar">100</zfar> + </perspective> + </technique_common> + </optics> + <extra> + <technique profile="blender"> + <YF_dofdist>0</YF_dofdist> + <shiftx>0</shiftx> + <shifty>0</shifty> + </technique> + </extra> + </camera> + </library_cameras> + <library_lights> + <light id="Lamp-light" name="Lamp"> + <technique_common> + <point> + <color sid="color">1 1 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</node> + <node id="Cone_base" name="Cone_base" type="NODE"> + <matrix sid="transform">0.075 0 0 0 0 0.075 0 0 0 0 0.05 0.05 0 0 0 1</matrix> + <instance_geometry url="#Cone-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_001-material" target="#Material_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Cylinder_stick" name="Cylinder_stick" type="NODE"> + <matrix sid="transform">0.035 0 0 0 0 0.035 0 0 0 0 0.325 0.377 0 0 0 1</matrix> + <instance_geometry url="#Cylinder-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_005-material" target="#Material_005-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Cylinder_table" name="Cylinder_table" type="NODE"> + <matrix sid="transform">0.2 0 0 0 0 0.2 0 0 0 0 0.0125 0.7125 0 0 0 1</matrix> + <instance_geometry url="#Cylinder_001-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material_006-material" target="#Material_006-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/wam_holder/meshes/wam_holder.stl b/wam_holder/meshes/wam_holder.stl new file mode 100644 index 0000000000000000000000000000000000000000..dafd2bd8c62e2a7b21f815f99dea2e37cf2efa7f Binary files /dev/null and b/wam_holder/meshes/wam_holder.stl differ diff --git a/wam_holder/model-1_4.sdf b/wam_holder/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..6e220e0e0f568d5637ed45e814ab33ee4f831d7a --- /dev/null +++ b/wam_holder/model-1_4.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.4"> + <model name="wam_holder"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>4.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/wam_holder/meshes/wam_holder.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/wam_holder/meshes/wam_holder.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/wam_holder/model.config b/wam_holder/model.config new file mode 100644 index 0000000000000000000000000000000000000000..0354361e9f536834e56681ebf65be4cbd12ca2b9 --- /dev/null +++ b/wam_holder/model.config @@ -0,0 +1,14 @@ +<?xml version="1.0"?> +<model> + <name>Wam Base Holder</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + <description> + Lab Wam base holder. + </description> +</model> diff --git a/wam_holder/model.sdf b/wam_holder/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..1ea0369b1ea702a1771a3a84b5d7c57eb2e314f4 --- /dev/null +++ b/wam_holder/model.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="wam_holder"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>4.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/wam_holder/meshes/wam_holder.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/wam_holder/meshes/wam_holder.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/yellow_mattress/manifest.xml b/yellow_mattress/manifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..a60df9245f8009fdef12570057bc87018e9b23c9 --- /dev/null +++ b/yellow_mattress/manifest.xml @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Yellow matress</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + Lab little mattress for compliant grasping over the table. + </description> +</model> diff --git a/yellow_mattress/meshes/yellow_mattress.dae b/yellow_mattress/meshes/yellow_mattress.dae new file mode 100644 index 0000000000000000000000000000000000000000..63404108fc9cec18bbf89c33f53c035a1bb8cbb9 --- /dev/null +++ b/yellow_mattress/meshes/yellow_mattress.dae @@ -0,0 +1,205 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool> + </contributor> + <created>2015-02-11T16:44:59</created> + <modified>2015-02-11T16:44:59</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + <aspect_ratio>1.777778</aspect_ratio> + <znear sid="znear">0.1</znear> + <zfar sid="zfar">100</zfar> + </perspective> + </technique_common> + </optics> + <extra> + <technique profile="blender"> + <YF_dofdist>0</YF_dofdist> + <shiftx>0</shiftx> + <shifty>0</shifty> + </technique> + </extra> + </camera> + </library_cameras> + <library_lights> + <light id="Lamp-light" name="Lamp"> + <technique_common> + <point> + <color sid="color">1 1 1</color> + <constant_attenuation>1</constant_attenuation> + <linear_attenuation>0</linear_attenuation> + <quadratic_attenuation>0.00111109</quadratic_attenuation> + </point> + </technique_common> + <extra> + <technique profile="blender"> + <adapt_thresh>0.000999987</adapt_thresh> + <area_shape>1</area_shape> + <area_size>0.1</area_size> + <area_sizey>0.1</area_sizey> + <area_sizez>1</area_sizez> + <atm_distance_factor>1</atm_distance_factor> + <atm_extinction_factor>1</atm_extinction_factor> + <atm_turbidity>2</atm_turbidity> + <att1>0</att1> + <att2>1</att2> + <backscattered_light>1</backscattered_light> + <bias>1</bias> + <blue>1</blue> + <buffers>1</buffers> + <bufflag>0</bufflag> + <bufsize>2880</bufsize> + <buftype>2</buftype> + <clipend>30.002</clipend> + <clipsta>1.000799</clipsta> + <compressthresh>0.04999995</compressthresh> + <dist sid="blender_dist">29.99998</dist> + <energy sid="blender_energy">1</energy> + <falloff_type>2</falloff_type> + <filtertype>0</filtertype> + <flag>0</flag> + <gamma sid="blender_gamma">1</gamma> + <green>1</green> + <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> + <horizon_brightness>1</horizon_brightness> + <mode>8192</mode> + <ray_samp>1</ray_samp> + <ray_samp_method>1</ray_samp_method> + <ray_samp_type>0</ray_samp_type> + <ray_sampy>1</ray_sampy> + <ray_sampz>1</ray_sampz> + <red>1</red> + <samp>3</samp> + <shadhalostep>0</shadhalostep> + <shadow_b sid="blender_shadow_b">0</shadow_b> + <shadow_g sid="blender_shadow_g">0</shadow_g> + <shadow_r sid="blender_shadow_r">0</shadow_r> + <sky_colorspace>0</sky_colorspace> + <sky_exposure>1</sky_exposure> + <skyblendfac>1</skyblendfac> + <skyblendtype>1</skyblendtype> + <soft>3</soft> + <spotblend>0.15</spotblend> + <spotsize>75</spotsize> + <spread>1</spread> + <sun_brightness>1</sun_brightness> + <sun_effect_type>0</sun_effect_type> + <sun_intensity>1</sun_intensity> + <sun_size>1</sun_size> + <type>0</type> + </technique> + </extra> + </light> + </library_lights> + <library_images/> + <library_effects> + <effect id="Material-effect"> + <profile_COMMON> + <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> + <color sid="diffuse">0.6342354 0.64 0.1019797 1</color> + </diffuse> + <specular> + <color sid="specular">0.5 0.5 0.5 1</color> + </specular> + <shininess> + 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type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Cube-mesh-normals"> + <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 2.38419e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 1.78814e-7</float_array> + <technique_common> + <accessor source="#Cube-mesh-normals-array" count="12" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cube-mesh-vertices"> + <input semantic="POSITION" source="#Cube-mesh-positions"/> + </vertices> + <polylist material="Material-material" count="12"> + <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount> + <p>0 0 1 0 2 0 7 1 6 1 5 1 4 2 5 2 1 2 5 3 6 3 2 3 2 4 6 4 7 4 4 5 0 5 3 5 3 6 0 6 2 6 4 7 7 7 5 7 0 8 4 8 1 8 1 9 5 9 2 9 3 10 2 10 7 10 7 11 4 11 3 11</p> + </polylist> + </mesh> + </geometry> + </library_geometries> + <library_controllers/> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="Camera" name="Camera" type="NODE"> + <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix> + <instance_camera url="#Camera-camera"/> + </node> + <node id="Lamp" name="Lamp" type="NODE"> + <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> + <instance_light url="#Lamp-light"/> + </node> + <node id="Cube" name="Cube" type="NODE"> + <matrix sid="transform">0.6449997 0 0 0 0 0.5999997 0 0 0 0 0.035 0.035 0 0 0 1</matrix> + <instance_geometry url="#Cube-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="Material-material" target="#Material-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/yellow_mattress/meshes/yellow_mattress.stl b/yellow_mattress/meshes/yellow_mattress.stl new file mode 100644 index 0000000000000000000000000000000000000000..317f82c806532333fc7ee92c51a7ca2b2ada551e Binary files /dev/null and b/yellow_mattress/meshes/yellow_mattress.stl differ diff --git a/yellow_mattress/model-1_4.sdf b/yellow_mattress/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..3364529b08b73b9cd98cc688200a8202e67975c1 --- /dev/null +++ b/yellow_mattress/model-1_4.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.4"> + <model name="yellow_mattress"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>4.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/yellow_mattress/model.config b/yellow_mattress/model.config new file mode 100644 index 0000000000000000000000000000000000000000..a60df9245f8009fdef12570057bc87018e9b23c9 --- /dev/null +++ b/yellow_mattress/model.config @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Yellow matress</name> + <version>1.0</version> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Sergi Foix</name> + <email>sfoix@iri.upc.edu</email> + </author> + + <description> + Lab little mattress for compliant grasping over the table. + </description> +</model> diff --git a/yellow_mattress/model.sdf b/yellow_mattress/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..17978520de8cc920205dda5dd78b55fe5255e8d2 --- /dev/null +++ b/yellow_mattress/model.sdf @@ -0,0 +1,53 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="yellow_mattress"> + <static>true</static> + <link name="link"> + <gravity>true</gravity> + <inertial> + <pose>0.0 0.0 0.0 0 0 0</pose> + <mass>4.000</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name="collision"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri> + </mesh> + </geometry> + <surface> + <friction> + <ode> + <mu>1.0</mu> + <mu2>1.0</mu2> + </ode> + </friction> + <contact> + <ode> + <kp>10000000.0</kp> + <kd>1.0</kd> + <min_depth>0.001</min_depth> + <max_vel>0.1</max_vel> + </ode> + </contact> + </surface> + </collision> + <visual name="visual"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>model://gazebo_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf>