Merge remote-tracking branch 'upstream/master'

data/kitchens/1.sdf

@@ -4291,45 +4291,7 @@
 			 </visual>
 			 </link>
 			</model>
-		<model name='part110.obj'>
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d110'>
-			<inertial>
-			<mass>0</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 concave='yes' name='collision_110'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part110.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part110.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>1.000000 1.000000 1.000000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
+	
 		<model name='part111.obj'>
 			<static>1</static>
 			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>

data/kuka_iiwa/meshes/link_0.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_1.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_2.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_3.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_4.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_5.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_6.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/meshes/link_7.mtl

@@ -0,0 +1,10 @@
+# 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

data/kuka_iiwa/model.urdf

@@ -70,7 +70,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_0.stl"/>
+        <mesh filename="meshes/link_0.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -99,7 +99,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_1.stl"/>
+        <mesh filename="meshes/link_1.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -128,7 +128,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_2.stl"/>
+        <mesh filename="meshes/link_2.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -157,7 +157,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_3.stl"/>
+        <mesh filename="meshes/link_3.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -186,7 +186,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_4.stl"/>
+        <mesh filename="meshes/link_4.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -215,7 +215,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_5.stl"/>
+        <mesh filename="meshes/link_5.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -244,7 +244,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_6.stl"/>
+        <mesh filename="meshes/link_6.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -273,7 +273,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_7.stl"/>
+        <mesh filename="meshes/link_7.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>

data/plane_with_restitution.urdf

@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <restitution value="0.5"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/roboschool/models_outdoor/stadium/stadium.mtl

@@ -0,0 +1,16 @@
+newmtl stadium_white
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+
+newmtl stadium_grass
+Ka 0.000000 0.000000 0.000000
+Kd 0.000000 0.500000 0.000000
+Ks 0.000000 0.000000 0.000000
+map_Kd stadium_grass.jpg
+
+newmtl stadium_dirt
+Ka 0.000000 0.000000 0.000000
+Kd 0.600000 0.400000 0.000000
+Ks 0.000000 0.000000 0.000000

data/sphere2.urdf

@@ -18,6 +18,7 @@
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
+        <specular rgb="11 1 1"/>
       </material>
     </visual>
     <collision>

data/sphere_with_restitution.urdf

@@ -0,0 +1,33 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <restitution value="0.5" />
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+      
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/stadium.sdf

@@ -0,0 +1,107 @@
+<sdf version='1.6'>
+	<world name='default'>
+	<gravity>0 0 -9.8</gravity>
+		<model name='roboschool/models_outdoor/stadium/part0.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d0'>
+			<inertial>
+			<mass>0</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>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
+				<specular>0.1 .1 .1 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='roboschool/models_outdoor/stadium/part1.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d1'>
+			<inertial>
+			<mass>0</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_1'>
+			<geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+			  </collision>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
+				<specular>.5 .5 .5 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='part2.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d2'>
+			<inertial>
+			<mass>0</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>
+			
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 0 0 1</ambient>
+				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
+				<specular>0.4 0.4 0.4 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+	</world>
+</sdf>

data/two_cubes.sdf

@@ -20,7 +20,7 @@
         <collision name='collision'>
           <geometry>
             <plane>
-              <normal>1 2 3</normal>
+              <normal>0 0 1</normal>
               <size>100 100</size>
             </plane>
           </geometry>
@@ -46,7 +46,7 @@
           <cast_shadows>0</cast_shadows>
           <geometry>
             <plane>
-              <normal>4 5 6</normal>
+              <normal>0 0 1</normal>
               <size>100 100</size>
             </plane>
           </geometry>
@@ -89,6 +89,7 @@
  <static>1</static>
       <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
+      
         <inertial>
           <mass>1</mass>
           <inertia>
@@ -154,26 +155,7 @@
             <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>
           <mesh>