Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

RoboBoat01 reference model #758

Merged
merged 11 commits into from
Dec 20, 2023
Merged
Show file tree
Hide file tree
Changes from 1 commit
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
CPU boxes.
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
  • Loading branch information
caguero committed Sep 19, 2023
commit 2129f32b6628a5c28a1c853886cd9af840df5604
78 changes: 78 additions & 0 deletions vrx_gz/models/roboboat01/colliders.sdf
Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
<collision name="Box011">
<pose>0.110046 0.314338 0.0352701 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>1.14985 0.223203 0.202172</size>
</box>
</geometry>
</collision>
<collision name="Box012">
<pose>0.110046 -0.31434 0.0352701 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>1.14985 0.223203 0.202172</size>
</box>
</geometry>
</collision>
<collision name="Box013">
<pose>0.0549115 0.0 0.240029 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.598409 0.459244 0.0260934</size>
</box>
</geometry>
</collision>
<collision name="Cylinder262">
<pose>-0.158378 0.290814 0.162712 1.0472 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.222664</length>
<radius>0.0222591</radius>
</cylinder>
</geometry>
</collision>
<collision name="Cylinder263">
<pose>-0.158378 -0.290814 0.162712 -1.0472 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.222664</length>
<radius>0.0222591</radius>
</cylinder>
</geometry>
</collision>
<collision name="Cylinder264">
<pose>0.12101 0.290814 0.162712 1.0472 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.222664</length>
<radius>0.0222591</radius>
</cylinder>
</geometry>
</collision>
<collision name="Cylinder265">
<pose>0.12101 -0.290814 0.162712 -1.0472 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.222664</length>
<radius>0.0222591</radius>
</cylinder>
</geometry>
</collision>
<collision name="Cylinder266">
<pose>0.12101 -0.000654578 0.21655 1.5708 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.409041</length>
<radius>0.0155011</radius>
</cylinder>
</geometry>
</collision>
<collision name="Cylinder267">
<pose>-0.15838 -0.000654578 0.21655 1.5708 0.0 0.0</pose>
<geometry>
<cylinder>
<length>0.409041</length>
<radius>0.0155011</radius>
</cylinder>
</geometry>
</collision>
14 changes: 14 additions & 0 deletions vrx_gz/models/roboboat01/materials/scripts/model.material
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@

material Fallback/Boat01_Diffuse
{
technique
{
pass
{
texture_unit
{
texture Boat01_Albedo.png
}
}
}
}
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
20 changes: 20 additions & 0 deletions vrx_gz/models/roboboat01/model.sdf
Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,26 @@
</geometry>
</collision>

<!-- CPU case -->
<visual name="visual_cpubox">
<pose>0.0 0.0 0.25 0 0 0</pose>
<geometry>
<mesh>
<uri>file://roboboat_cpubox/meshes/drybox.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>file://roboboat_cpubox/materials/textures/DryBox_Albedo.png</albedo_map>
<roughness_map>file://roboboat_cpubox/materials/textures/DryBox_Roughness.png</roughness_map>
</metal>
</pbr>
</material>
</visual>

<!-- Thrusters -->

<visual name="visual_housing_left">
Expand Down
80 changes: 80 additions & 0 deletions vrx_gz/models/roboboat02/colliders.sdf
Original file line number Diff line number Diff line change
@@ -0,0 +1,80 @@
<collision name="Box042">
<pose>0.0802271 -0.433496 0.067182 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.806774 0.145078 0.226941</size>
</box>
</geometry>
</collision>
<collision name="Box043">
<pose>0.0802271 0.4335 0.067182 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.806774 0.145078 0.226941</size>
</box>
</geometry>
</collision>
<collision name="Box044">
<pose>0.245224 0.0 0.111301 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>1.38539 0.332228 0.367644</size>
</box>
</geometry>
</collision>
<collision name="Box045">
<pose>-0.0725149 0.0 0.334772 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.644487 0.523591 0.037272</size>
</box>
</geometry>
</collision>
<collision name="Box046">
<pose>0.161773 -0.242136 0.266935 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.038 0.038 0.134869</size>
</box>
</geometry>
</collision>
<collision name="Box047">
<pose>0.161773 0.24214 0.266935 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.038 0.038 0.134869</size>
</box>
</geometry>
</collision>
<collision name="Box048">
<pose>-0.155861 0.24214 0.266935 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.038 0.038 0.134869</size>
</box>
</geometry>
</collision>
<collision name="Box049">
<pose>-0.155861 -0.242136 0.266935 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.038 0.038 0.134869</size>
</box>
</geometry>
</collision>
<collision name="Box050">
<pose>0.16328 0.0 0.193494 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.0861031 0.929524 0.0166388</size>
</box>
</geometry>
</collision>
<collision name="Box051">
<pose>-0.136293 0.0 0.193494 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.123127 0.95741 0.0166388</size>
</box>
</geometry>
</collision>
14 changes: 14 additions & 0 deletions vrx_gz/models/roboboat02/materials/scripts/model.material
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@

material Fallback/Boat02_Diffuse
{
technique
{
pass
{
texture_unit
{
texture Boat02_Albedo.png
}
}
}
}
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
20 changes: 20 additions & 0 deletions vrx_gz/models/roboboat02/model.sdf
Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,26 @@
</geometry>
</collision>

<!-- CPU case -->
<visual name="visual_cpubox">
<pose>0.0 0.0 0.35 0 0 0</pose>
<geometry>
<mesh>
<uri>file://roboboat_cpubox/meshes/drybox.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>file://roboboat_cpubox/materials/textures/DryBox_Albedo.png</albedo_map>
<roughness_map>file://roboboat_cpubox/materials/textures/DryBox_Roughness.png</roughness_map>
</metal>
</pbr>
</material>
</visual>

<!-- Thrusters -->

<visual name="visual_housing_left">
Expand Down
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading