From 7e120340979547af4907e27281ffd590af03ccae Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 6 Jun 2017 09:45:06 -0700
Subject: [PATCH] improve racecar visuals a little bit with a texture on the
 wheels

---
 data/racecar/meshes/checker_blue.png      |  Bin 0 -> 6379 bytes
 data/racecar/meshes/cone.mtl              |   11 +
 data/racecar/meshes/cone.obj              |  125 +
 data/racecar/meshes/hokuyo.mtl            |   20 +
 data/racecar/meshes/hokuyo.obj            | 2473 +++++++++++++
 data/racecar/meshes/left_front_wheel.mtl  |   11 +
 data/racecar/meshes/left_front_wheel.obj  | 3978 ++++++++++++++++++++
 data/racecar/meshes/left_rear_wheel.mtl   |   11 +
 data/racecar/meshes/left_rear_wheel.obj   | 3979 +++++++++++++++++++++
 data/racecar/meshes/right_front_wheel.mtl |   11 +
 data/racecar/meshes/right_front_wheel.obj | 3625 +++++++++++++++++++
 data/racecar/meshes/right_rear_wheel.mtl  |   11 +
 data/racecar/meshes/right_rear_wheel.obj  | 3625 +++++++++++++++++++
 data/racecar/meshes/wheel.jpg             |  Bin 0 -> 91423 bytes
 data/racecar/racecar.urdf                 |   23 +-
 15 files changed, 17893 insertions(+), 10 deletions(-)
 create mode 100644 data/racecar/meshes/checker_blue.png
 create mode 100644 data/racecar/meshes/cone.mtl
 create mode 100644 data/racecar/meshes/cone.obj
 create mode 100644 data/racecar/meshes/hokuyo.mtl
 create mode 100644 data/racecar/meshes/hokuyo.obj
 create mode 100644 data/racecar/meshes/left_front_wheel.mtl
 create mode 100644 data/racecar/meshes/left_front_wheel.obj
 create mode 100644 data/racecar/meshes/left_rear_wheel.mtl
 create mode 100644 data/racecar/meshes/left_rear_wheel.obj
 create mode 100644 data/racecar/meshes/right_front_wheel.mtl
 create mode 100644 data/racecar/meshes/right_front_wheel.obj
 create mode 100644 data/racecar/meshes/right_rear_wheel.mtl
 create mode 100644 data/racecar/meshes/right_rear_wheel.obj
 create mode 100644 data/racecar/meshes/wheel.jpg

diff --git a/data/racecar/meshes/checker_blue.png b/data/racecar/meshes/checker_blue.png
new file mode 100644
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diff --git a/data/racecar/meshes/cone.mtl b/data/racecar/meshes/cone.mtl
new file mode 100644
index 000000000..c6fd1f6cc
--- /dev/null
+++ b/data/racecar/meshes/cone.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl material_1
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.602353 0.301176 0.050196
+Ks 0.500000 0.500000 0.500000
+Ni -1.000000
+d 1.000000
+illum 2
diff --git a/data/racecar/meshes/cone.obj b/data/racecar/meshes/cone.obj
new file mode 100644
index 000000000..0e32f038b
--- /dev/null
+++ b/data/racecar/meshes/cone.obj
@@ -0,0 +1,125 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cone.mtl
+o SketchUp.001_ID10
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diff --git a/data/racecar/meshes/hokuyo.mtl b/data/racecar/meshes/hokuyo.mtl
new file mode 100644
index 000000000..1d22ed29f
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.mtl
@@ -0,0 +1,20 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl black-material
+Ns 21.568627
+Ka 0.000000 0.000000 0.000000
+Kd 0.016250 0.016250 0.016250
+Ks 0.125000 0.125000 0.125000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl white_001-material
+Ns -1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 0.556090 0.556090 0.556090
+Ks 0.031250 0.031250 0.031250
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/data/racecar/meshes/hokuyo.obj b/data/racecar/meshes/hokuyo.obj
new file mode 100644
index 000000000..be1f55569
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.obj
@@ -0,0 +1,2473 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib hokuyo.mtl
+o Mesh_001_Mesh
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diff --git a/data/racecar/meshes/left_front_wheel.mtl b/data/racecar/meshes/left_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_front_wheel.obj b/data/racecar/meshes/left_front_wheel.obj
new file mode 100644
index 000000000..c08b16e24
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.obj
@@ -0,0 +1,3978 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/left_rear_wheel.mtl b/data/racecar/meshes/left_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_rear_wheel.obj b/data/racecar/meshes/left_rear_wheel.obj
new file mode 100644
index 000000000..a929491b5
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.obj
@@ -0,0 +1,3979 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/right_front_wheel.mtl b/data/racecar/meshes/right_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_front_wheel.obj b/data/racecar/meshes/right_front_wheel.obj
new file mode 100644
index 000000000..0b1fe2446
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib right_front_wheel.mtl
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diff --git a/data/racecar/meshes/right_rear_wheel.mtl b/data/racecar/meshes/right_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_rear_wheel.obj b/data/racecar/meshes/right_rear_wheel.obj
new file mode 100644
index 000000000..4b774696e
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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HcmV?d00001

diff --git a/data/racecar/racecar.urdf b/data/racecar/racecar.urdf
index d5f17202e..c33450464 100644
--- a/data/racecar/racecar.urdf
+++ b/data/racecar/racecar.urdf
@@ -45,9 +45,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_rear_wheel.STL"/>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       robot
@@ -85,9 +85,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_rear_wheel.STL"/>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -187,9 +187,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_front_wheel.STL"/>
+        <mesh filename="meshes/left_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
@@ -225,9 +225,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_front_wheel.STL"/>
+        <mesh filename="meshes/right_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -269,7 +269,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hokuyo.dae"/>
+        <mesh filename="meshes/hokuyo.obj"/>
         <material name="grey"/>
       </geometry>
     </visual>
@@ -454,8 +454,11 @@
       </plugin>
     </sensor>
   </gazebo>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
+    <color rgba="0. 0. 0. 1.0"/>
   </material>
   <material name="blue">
     <color rgba="0.0 0.0 0.8 1.0"/>