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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-05-10 10:18:27 -07:00
parent cbeddfc897 119d47166d
commit 1bebcc6d9a
101 changed files with 5737 additions and 301 deletions
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11
data/door.urdf
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<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>

13
data/floor.mtl Normal file
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newmtl floor
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka floor_diffuse.jpg
map_Kd floor_diffuse.jpg

18
data/floor.obj Normal file
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o
mtllib floor.mtl
v -1 -1 -1
v 1 -1 -1
v 1 -1 1
v -1 -1 1
vt 0 0
vt 1 0
vt 1 1
vt 0 1
vn 0 1 0
usemtl floor
f 3/3/1 2/2/1 1/1/1
f 4/4/1 3/3/1 1/1/1

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data/multibody.bullet
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239
data/two_cubes.sdf Normal file
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<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<yunfei>99.2</yunfei>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>1 2 3</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>4 5 6</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='unit_box_0'>
<pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<model name='unit_box_0_clone'>
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<state world_name='default'>
<sim_time>0 0</sim_time>
<real_time>0 0</real_time>
<wall_time>1462824251 956472000</wall_time>
<iterations>0</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='unit_box_0'>
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<scale>1 1 1</scale>
<link name='unit_box_0::link'>
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
<acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
<wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
</link>
</model>
<model name='unit_box_0_clone'>
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<scale>1 1 1</scale>
<link name='unit_box_0::link'>
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>