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simulation table model and world - draft
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src/limo_gazebosim/models/simulation_table/materials/scripts/simulation_table.material
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| material SimulationTable/Background | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture background.png | ||
| } | ||
| } | ||
| } | ||
| } |
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src/limo_gazebosim/models/simulation_table/materials/textures/background.png
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src/limo_gazebosim/models/simulation_table/materials/textures/background_low.png
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...azebosim/models/simulation_table/materials/textures/simulation_table_vector.svg
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,19 @@ | ||
| <?xml version="1.0"?> | ||
|
|
||
| <model> | ||
| <name>simulation table</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.5">model.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Grzegorz Cielniak</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
|
||
| <description> | ||
| LIMO's simulation table. A basic version with all 16 parts arranged into a squared arena. | ||
| The background texture is based on a low res texture from the LIMO's simulation table user manual, | ||
| which was then vectorised in Inkscape. The source vector file is materials/textures/simulation_table_vector.svg | ||
| and can be used for export to PNG (@150 dpi) in Inkscape. | ||
| </description> | ||
| </model> |
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| <?xml version="1.0" ?> | ||
| <sdf version="1.5"> | ||
| <model name="simulation_table"> | ||
| <static>true</static> | ||
| <link name="floor"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>3.0 3.0</size> | ||
| </plane> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>3.0 3.0</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://simulation_table/materials/scripts/</uri> | ||
| <uri>model://simulation_table/materials/textures/</uri> | ||
| <name>SimulationTable/Background</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| <link name="side_1"> | ||
| <pose relative_to="floor">0.0 1.5 0.1 1.57079632679 0 0</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| <link name="side_2"> | ||
| <pose relative_to="floor">0.0 -1.5 0.1 1.57079632679 0 0</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| <link name="side_3"> | ||
| <pose relative_to="floor">1.5 0.0 0.1 1.57079632679 0 1.57079632679</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| <link name="side_4"> | ||
| <pose relative_to="floor">-1.5 0.0 0.1 1.57079632679 0 1.57079632679</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <box> | ||
| <size>3.05 0.3 0.05</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| <?xml version="1.0" ?> | ||
|
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| <sdf version="1.5"> | ||
| <world name="default"> | ||
| <!-- A global light source --> | ||
| <include> | ||
| <uri>model://sun</uri> | ||
| </include> | ||
|
|
||
| <!-- simulation table --> | ||
| <include> | ||
| <uri>model://simulation_table</uri> | ||
| </include> | ||
| </world> | ||
| </sdf> |