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Add new models from Ignition Fuel (#205)
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* add new models from Ignition Fuel
* add Sunken Ship
* add inertial values for Sunken Vase and Niskin
Signed-off-by: Mabel Zhang <[email protected]>
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@mabelzhang
mabelzhang authored Feb 22, 2022
1 parent 564c9f8 commit 0b6cf7d
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Showing 5 changed files with 163 additions and 0 deletions.
9 changes: 9 additions & 0 deletions models/dave_object_models/models/niskin/model.config
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<?xml version='1.0'?>
<model>
<name>Niskin</name>
<version>1.0</version>
<sdf version='1.6'>model.sdf</sdf>
<description>
Niskin sampling bottle
</description>
</model>
55 changes: 55 additions & 0 deletions models/dave_object_models/models/niskin/model.sdf
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<?xml version="1.0"?>
<sdf version="1.6">
<model name="niskin">
<static>false</static>
<link name="base_link">
<inertial>
<pose>0.001636 -0.004927 0.001843</pose>
<mass>0.008183</mass>
<inertia>
<ixx>0.000173</ixx>
<iyy>0.000172</iyy>
<izz>0.000022</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="Niskin_visual">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<submesh>
<name>Niskin</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
<metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
<name>UrbanTile/Niskin_Diffuse</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
15 changes: 15 additions & 0 deletions models/dave_object_models/models/sunken_vase/model.config
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<?xml version="1.0"?>

<model>
<name>Vase</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
<email>[email protected]</email>
</author>

<description>
</description>
</model>
54 changes: 54 additions & 0 deletions models/dave_object_models/models/sunken_vase/model.sdf
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<?xml version="1.0"?>
<sdf version="1.6">
<model name="Pot01">
<static>false</static>
<link name="base_link">
<inertial>
<pose>0.000000 0.00014473 0.28908009</pose>
<mass>0.047262</mass>
<inertia>
<ixx>0.002228</ixx>
<iyy>0.002315</iyy>
<izz>0.002557</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="Pot01_visual">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<submesh>
<name>Pot01</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<name>UrbanTile/Pot01_Diffuse</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
30 changes: 30 additions & 0 deletions models/dave_worlds/worlds/dave_ocean_models.world
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<uri>model://uxo_c</uri>
</include>

<include>
<pose>13 -7 -94 0 0 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://sunken_vase</uri>
</include>

<!-- Pending model fix upstream -->
<!--include>
<pose>13 -8 -94 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
</include-->

<include>
<pose>13 -9 -94 0 0 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://niskin</uri>
</include>

<include>
<pose>13 -12 -94 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
</include>

<include>
<pose>35 -10 -94 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
</include>

</world>
</sdf>

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