diff --git a/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png new file mode 100644 index 0000000..6763247 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png differ diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl new file mode 100644 index 0000000..abc59b8 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl @@ -0,0 +1,12 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +newmtl material_0 +# shader_type beckmann +map_Kd ../materials/textures/breakfast_menu_diffuse.png + +# Kd: Diffuse reflectivity. +Kd 1.000000 1.000000 1.000000 diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj new file mode 100644 index 0000000..b9645c1 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj @@ -0,0 +1,30315 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +# Generated by Katamari OBJ encoder. +# Vertices: 5834 +# Faces: 11676 +mtllib model.mtl +v -0.099758 0.047852 0.005416 +v -0.103376 0.018348 0.007225 +v -0.104808 0.045730 0.008458 +v -0.097343 0.031228 0.004227 +v -0.120744 0.087996 0.033213 +v -0.121293 0.052313 0.036105 +v -0.122529 0.087876 0.040609 +v -0.122092 0.088812 0.040420 +v -0.120242 0.089075 0.034198 +v -0.122722 0.088955 0.044360 +v -0.116805 0.089004 0.039844 +v -0.123210 0.088689 0.047330 +v -0.123768 0.087610 0.046246 +v -0.123891 0.088005 0.049063 +v -0.123201 0.088196 0.049349 +v -0.124572 0.086779 0.050769 +v -0.125026 0.083468 0.051868 +v -0.117881 0.088711 0.045970 +v -0.115889 0.088614 0.040639 +v -0.117532 0.087743 0.047643 +v -0.116326 0.087165 0.043722 +v -0.125342 0.067883 0.053601 +v -0.125275 0.076348 0.053611 +v -0.124803 0.066982 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ichen@openrobotics.org + + 1.0 + model.sdf + Breakfast menu- modified from the original breakfast menu model to feature mesh convex hull. +The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray. + diff --git a/ionic_demo/models/breakfast_menu_convex_hull/model.sdf b/ionic_demo/models/breakfast_menu_convex_hull/model.sdf new file mode 100644 index 0000000..e6f72b6 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_convex_hull/model.sdf @@ -0,0 +1,29 @@ + + + + + + + + + meshes/model.obj + + + + + + + meshes/model.obj + + + + + + diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg new file mode 100644 index 0000000..963c983 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg differ diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg new file mode 100644 index 0000000..b659951 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg differ diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg new file mode 100644 index 0000000..dbb582d Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg differ diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg new file mode 100644 index 0000000..3552df3 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg differ diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg new file mode 100644 index 0000000..935bea2 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png new file mode 100644 index 0000000..6763247 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl new file mode 100644 index 0000000..abc59b8 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl @@ -0,0 +1,12 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +newmtl material_0 +# shader_type beckmann +map_Kd ../materials/textures/breakfast_menu_diffuse.png + +# Kd: Diffuse reflectivity. +Kd 1.000000 1.000000 1.000000 diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj new file mode 100644 index 0000000..b9645c1 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj @@ -0,0 +1,30315 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +# Generated by Katamari OBJ encoder. +# Vertices: 5834 +# Faces: 11676 +mtllib model.mtl +v -0.099758 0.047852 0.005416 +v -0.103376 0.018348 0.007225 +v -0.104808 0.045730 0.008458 +v -0.097343 0.031228 0.004227 +v -0.120744 0.087996 0.033213 +v -0.121293 0.052313 0.036105 +v -0.122529 0.087876 0.040609 +v -0.122092 0.088812 0.040420 +v -0.120242 0.089075 0.034198 +v -0.122722 0.088955 0.044360 +v -0.116805 0.089004 0.039844 +v -0.123210 0.088689 0.047330 +v -0.123768 0.087610 0.046246 +v -0.123891 0.088005 0.049063 +v -0.123201 0.088196 0.049349 +v -0.124572 0.086779 0.050769 +v -0.125026 0.083468 0.051868 +v -0.117881 0.088711 0.045970 +v -0.115889 0.088614 0.040639 +v -0.117532 0.087743 0.047643 +v -0.116326 0.087165 0.043722 +v -0.125342 0.067883 0.053601 +v -0.125275 0.076348 0.053611 +v -0.124803 0.066982 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ichen@openrobotics.org + + 1.0 + model.sdf + Breakfast Menu - modified from the original breakfast menu model to feature mesh convex decomposition. +The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray. + diff --git a/ionic_demo/models/breakfast_menu_decomposed/model.sdf b/ionic_demo/models/breakfast_menu_decomposed/model.sdf new file mode 100644 index 0000000..faf7e85 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_decomposed/model.sdf @@ -0,0 +1,33 @@ + + + + + + + + + meshes/model.obj + + + + + + + + 32 + 800000 + + meshes/model.obj + + + + + + diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg new file mode 100644 index 0000000..963c983 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg new file mode 100644 index 0000000..b659951 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg new file mode 100644 index 0000000..dbb582d Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg new file mode 100644 index 0000000..3552df3 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg differ diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg new file mode 100644 index 0000000..935bea2 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg differ diff --git a/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png new file mode 100644 index 0000000..6763247 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png differ diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.mtl b/ionic_demo/models/breakfast_menu_original/meshes/model.mtl new file mode 100644 index 0000000..abc59b8 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_original/meshes/model.mtl @@ -0,0 +1,12 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +newmtl material_0 +# shader_type beckmann +map_Kd ../materials/textures/breakfast_menu_diffuse.png + +# Kd: Diffuse reflectivity. +Kd 1.000000 1.000000 1.000000 diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.obj b/ionic_demo/models/breakfast_menu_original/meshes/model.obj new file mode 100644 index 0000000..b9645c1 --- /dev/null +++ b/ionic_demo/models/breakfast_menu_original/meshes/model.obj @@ -0,0 +1,30315 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. 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ichen@openrobotics.org + + 1.0 + model.sdf + Breakfast menu- copied from original breakfast menu model for Gazebo Ionic demo. +The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray. + diff --git a/ionic_demo/models/breakfast_menu_original/model.sdf b/ionic_demo/models/breakfast_menu_original/model.sdf new file mode 100644 index 0000000..bf255ee --- /dev/null +++ b/ionic_demo/models/breakfast_menu_original/model.sdf @@ -0,0 +1,29 @@ + + + + + + + + + meshes/model.obj + + + + + + + meshes/model.obj + + + + + + diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg new file mode 100644 index 0000000..963c983 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg differ diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg new file mode 100644 index 0000000..b659951 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg differ diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg new file mode 100644 index 0000000..dbb582d Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg differ diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg new file mode 100644 index 0000000..3552df3 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg differ diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg new file mode 100644 index 0000000..935bea2 Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg differ diff --git a/ionic_demo/worlds/ionic.sdf b/ionic_demo/worlds/ionic.sdf index b3f58d8..0816712 100644 --- a/ionic_demo/worlds/ionic.sdf +++ b/ionic_demo/worlds/ionic.sdf @@ -384,5 +384,29 @@ Interior interior + + + + false + Breakfast menu + -2.14 2.623 0.751 0 0 0.0 + breakfast_menu_original + + + + false + Breakfast menu decomposed + -1.73 2.623 0.751 0 0 0.0 + breakfast_menu_decomposed + + + + false + Breakfast menu convex hull + -1.73 2.85 0.751 0 0 0.0 + breakfast_menu_convex_hull + +