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Add new models from Ignition Fuel #205

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Merged
mabelzhang merged 4 commits into from
Feb 22, 2022
Merged

Add new models from Ignition Fuel #205

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8452240
add new models from Ignition Fuel
mabelzhang Feb 17, 2022
19dd8c0
add Sunken Ship
mabelzhang Feb 19, 2022
517afd4
add inertial values for Sunken Vase and Niskin
mabelzhang Feb 19, 2022
7a971a4
Merge branch 'feature/bsb/newmodels' into mabelzhang/fuel_models
mabelzhang Feb 19, 2022
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9 changes: 9 additions & 0 deletions models/dave_object_models/models/niskin/model.config
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Original file line number Diff line number Diff line change
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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>cole@openrobotics.org</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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Expand Up @@ -168,5 +168,35 @@
<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>