From 65deeee64b2663c907cd9e7b8411b535d96b9e0f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 16 Feb 2017 14:29:51 -0800 Subject: [PATCH] add optimized tray/traybox.urdf --- data/tray/tray_textured.mtl | 13 +++ data/tray/tray_textured.obj | 213 ++++++++++++++++++++++++++++++++++++ data/tray/traybox.urdf | 49 +++++++++ 3 files changed, 275 insertions(+) create mode 100644 data/tray/tray_textured.mtl create mode 100644 data/tray/tray_textured.obj create mode 100644 data/tray/traybox.urdf diff --git a/data/tray/tray_textured.mtl b/data/tray/tray_textured.mtl new file mode 100644 index 000000000..e3b14fbaf --- /dev/null +++ b/data/tray/tray_textured.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd tray.jpg diff --git a/data/tray/tray_textured.obj b/data/tray/tray_textured.obj new file mode 100644 index 000000000..f3523df4d --- /dev/null +++ b/data/tray/tray_textured.obj @@ -0,0 +1,213 @@ +# Blender v2.78 (sub 0) OBJ File: '' +# www.blender.org +mtllib tray_textured.mtl +o edge_4_Cube.001 +v -0.573309 0.580000 0.261247 +v -0.426691 0.419400 -0.002214 +v -0.590083 0.580000 0.250354 +v -0.573309 -0.580000 0.261247 +v -0.409917 0.419400 0.008679 +v -0.590083 -0.580000 0.250354 +v -0.409917 -0.419400 0.009162 +v -0.426691 -0.419400 -0.001731 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 -0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 1/1/1 2/2/1 3/3/1 +f 4/4/2 5/5/3 1/1/4 +f 6/6/5 7/7/5 4/4/5 +f 3/3/6 8/8/7 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/1 2/2/1 +f 4/4/2 7/7/11 5/5/3 +f 6/6/5 8/8/5 7/7/5 +f 3/3/6 2/2/12 8/8/7 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_1_Cube.003 +v 0.580000 0.590083 0.250354 +v -0.419960 0.426691 -0.001860 +v -0.580000 0.590083 0.250354 +v 0.580000 0.573309 0.261247 +v 0.420014 0.426691 -0.001059 +v -0.580000 0.573309 0.261247 +v 0.420014 0.409917 0.009834 +v -0.419960 0.409917 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn 0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn 0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 9/9/13 10/10/14 11/11/15 +f 12/12/16 13/13/16 9/9/16 +f 14/14/17 15/15/18 12/12/19 +f 11/11/20 16/16/20 14/14/20 +f 13/13/21 16/16/21 10/10/21 +f 12/12/22 11/11/22 14/14/22 +f 9/9/13 13/13/23 10/10/14 +f 12/12/16 15/15/16 13/13/16 +f 14/14/17 16/16/24 15/15/18 +f 11/11/20 10/10/20 16/16/20 +f 13/13/21 15/15/21 16/16/21 +f 12/12/22 9/9/22 11/11/22 +o edge_2_Cube +v 0.590083 0.580000 0.250354 +v 0.409917 0.420060 0.009390 +v 0.573309 0.580000 0.261247 +v 0.590083 -0.580000 0.250354 +v 0.426691 0.420060 -0.001503 +v 0.573309 -0.580000 0.261247 +v 0.426691 -0.419158 -0.002053 +v 0.409917 -0.419158 0.008840 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5443 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 17/17/25 18/18/25 19/19/25 +f 20/20/26 21/21/27 17/17/28 +f 22/22/29 23/23/29 20/20/29 +f 19/19/30 24/24/31 22/22/32 +f 21/21/33 24/24/33 18/18/33 +f 20/20/34 19/19/34 22/22/34 +f 17/17/25 21/21/25 18/18/25 +f 20/20/26 23/23/35 21/21/27 +f 22/22/29 24/24/29 23/23/29 +f 19/19/30 18/18/36 24/24/31 +f 21/21/33 23/23/33 24/24/33 +f 20/20/34 17/17/34 19/19/34 +o base_Cube.004 +v 0.420000 0.420000 0.010000 +v -0.420000 0.420000 -0.010000 +v -0.420000 0.420000 0.010000 +v 0.420000 -0.420000 0.010000 +v 0.420000 0.420000 -0.010000 +v -0.420000 -0.420000 0.010000 +v 0.420000 -0.420000 -0.010000 +v -0.420000 -0.420000 -0.010000 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn 0.0000 1.0000 0.0000 +vn 1.0000 -0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn 0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 25/25/37 26/26/37 27/27/37 +f 28/28/38 29/29/38 25/25/38 +f 30/30/39 31/31/39 28/28/39 +f 27/27/40 32/32/40 30/30/40 +f 29/29/41 32/32/41 26/26/41 +f 28/28/42 27/27/42 30/30/42 +f 25/25/37 29/29/37 26/26/37 +f 28/28/38 31/31/38 29/29/38 +f 30/30/39 32/32/39 31/31/39 +f 27/27/40 26/26/40 32/32/40 +f 29/29/41 31/31/41 32/32/41 +f 28/28/42 25/25/42 27/27/42 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn 0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn -0.8822 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 33/33/43 34/34/44 35/35/45 +f 36/36/46 37/37/46 33/33/46 +f 38/38/47 39/39/48 36/36/49 +f 35/35/50 40/40/51 38/38/51 +f 37/37/52 40/40/52 34/34/52 +f 36/36/53 35/35/53 38/38/53 +f 33/33/43 37/37/54 34/34/44 +f 36/36/46 39/39/46 37/37/46 +f 38/38/47 40/40/55 39/39/48 +f 35/35/50 34/34/51 40/40/51 +f 37/37/52 39/39/52 40/40/52 +f 36/36/53 33/33/53 35/35/53 diff --git a/data/tray/traybox.urdf b/data/tray/traybox.urdf new file mode 100644 index 000000000..58e578f11 --- /dev/null +++ b/data/tray/traybox.urdf @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +