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[Models] add adream FF
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@sarthou
sarthou committed Aug 23, 2024
1 parent 26455d9 commit 560598d
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121 changes: 121 additions & 0 deletions models/adream/adream.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,76 @@
</collision>
</link>

<link name="adream_gg_roof">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/adream_gg_roof.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>

<link name="guard_rail">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/guard_rail.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>

<link name="ff_floor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/ff_floor.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>

<link name="ff_walls">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/ff_walls.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>

<link name="hall_roof">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/hall_roof.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>

<link name="adream_window_h10_1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
Expand Down Expand Up @@ -154,6 +224,57 @@
</visual>
</link>

<link name="adream_window_h100_1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/window_h100_1.obj" scale="1 1 1"/>
</geometry>
<material name="black">
<color rgba="1.0 0.948 0.8 1"/>
</material>
</visual>
</link>

<link name="adream_window_h100_2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/window_h100_2.obj" scale="1 1 1"/>
</geometry>
<material name="black">
<color rgba="0.03 0.03 0.03 1"/>
</material>
</visual>
</link>

<link name="adream_window_h100_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://overworld/models/adream/window_h100_3.obj" scale="1 1 1"/>
</geometry>
<material name="black">
<color rgba="0.03 0.03 0.03 1"/>
</material>
</visual>
</link>

<link concave="yes" name="adream_appartment">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
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22 changes: 22 additions & 0 deletions models/adream/adream_gg_roof.mtl
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# Blender MTL File: 'adream_empty.blend'
# Material Count: 2

newmtl M_concrete_white
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

newmtl M_white_plastic_glossy
Ns 728.999998
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.100000 0.100000 0.100000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
205 changes: 205 additions & 0 deletions models/adream/adream_gg_roof.obj
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# Blender v3.0.1 OBJ File: 'adream_empty.blend'
# www.blender.org
mtllib adream_gg_roof.mtl
o gf_experiment_roof_Plane.048
v 0.000499 -6.293342 2.750000
v 10.906754 -6.293342 2.750000
v 0.000499 0.970689 2.750000
v 10.906754 0.970689 2.750000
v 9.457140 -6.293342 2.750000
v 9.457140 0.970689 2.750000
v 0.000499 -10.921406 2.750000
v 9.457140 -10.921406 2.750000
v 2.294783 0.970689 2.750000
v 2.294783 -6.293342 2.750000
v 2.294783 -10.921406 2.750000
v 0.000499 17.744549 2.750000
v 2.294783 17.744549 2.750000
v 0.000499 28.291050 2.750000
v 2.294783 28.291050 2.750000
v 11.529520 17.744549 2.750000
v 11.529520 28.291050 2.750000
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v -0.127472 28.291050 2.750000
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v 9.457140 0.970689 3.880022
v 2.294783 0.970689 3.880022
v 2.294783 17.744549 3.880022
v 11.529520 17.744549 3.880022
vt 0.628471 0.881975
vt 0.628471 0.696727
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vt 0.724810 0.881975
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vt 0.152474 0.696727
vt 0.152474 1.000000
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vt 0.916396 0.404871
vt 0.916396 0.219623
vn 0.0000 0.0000 -1.0000
vn 0.0000 0.0000 1.0000
vn 0.0000 1.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn 1.0000 0.0000 0.0000
vn -1.0000 0.0000 0.0000
usemtl M_concrete_white
s off
f 5/1/1 6/2/1 4/3/1 2/4/1
f 10/5/1 9/6/1 6/2/1 5/1/1
f 10/5/1 11/7/1 7/8/1 1/9/1
f 5/1/1 8/10/1 11/7/1 10/5/1
f 1/9/1 3/11/1 9/6/1 10/5/1
f 3/11/1 12/12/1 13/13/1 9/6/1
f 12/12/1 14/14/1 15/15/1 13/13/1
f 15/15/1 17/16/1 16/17/1 13/13/1
f 12/18/2 14/19/2 19/20/2 18/21/2
f 6/22/3 22/23/3 21/24/3 4/25/3
f 16/26/4 25/27/4 24/28/4 13/29/4
f 9/30/3 23/31/3 22/23/3 6/22/3
f 13/32/5 24/33/5 23/34/5 9/35/5
f 4/36/6 2/37/6 20/38/6 21/39/6
o gf_experiment_roof_border_Cube.170
v 2.275654 0.950271 3.853180
v 2.275654 0.950271 3.893180
v 2.275654 17.760172 3.853180
v 2.275654 17.760172 3.893180
v 2.315654 0.950271 3.853180
v 2.315654 0.950271 3.893180
v 2.315654 17.760172 3.853180
v 2.315654 17.760172 3.893180
v 2.275654 17.728029 3.853180
v 2.275654 17.728029 3.893180
v 2.315654 17.728029 3.853180
v 2.315654 17.728029 3.893180
v 2.275654 0.988243 3.853180
v 2.315654 0.988243 3.893180
v 2.275654 0.988243 3.893180
v 2.315654 0.988243 3.853180
v 10.938932 17.760172 3.893180
v 10.938932 17.760172 3.853180
v 10.938932 17.728029 3.853180
v 10.938932 0.988243 3.893180
v 10.938932 0.950271 3.893180
v 10.938932 0.950271 3.853180
v 10.938932 17.728029 3.893180
v 10.938932 0.988243 3.853180
vt 0.993137 0.001855
vt 0.990849 0.001855
vt 0.990849 0.000000
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vt 0.995425 0.000000
vt 0.997712 0.000000
vt 0.997712 0.002309
vt 0.995425 0.002309
vt 0.997712 0.997691
vt 0.995425 0.997691
vt 0.995425 0.500000
vt 0.997712 0.500000
vt 0.997712 1.000000
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vt 0.002287 0.000000
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vt 0.495425 0.001855
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vt 0.993137 0.967990
vt 0.993137 0.970181
vt 0.995425 0.966134
vt 0.993137 0.966134
vt 0.993137 0.000000
vt 0.995424 0.000000
vt 0.000000 0.972490
vt 0.000000 0.970181
vt 0.002171 0.970181
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vt 0.002171 0.972490
vt 0.002171 0.970181
vt 0.004010 0.970181
vt 0.004010 0.972490
vt 1.000000 0.497691
vt 0.997712 0.497691
vt 0.997712 0.000000
vt 1.000000 0.000000
vt 0.495425 0.000000
vt 0.495425 0.001855
vt 1.000000 0.997691
vt 0.997712 0.997691
vt 0.997712 0.500000
vt 1.000000 0.500000
vt 0.495425 0.967989
vt 0.495425 0.970181
vt 0.495425 0.970181
vt 0.495425 0.967990
vt 0.997712 0.500000
vt 0.995425 0.500000
vn -1.0000 0.0000 0.0000
vn 0.0000 1.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn 0.0000 0.0000 -1.0000
vn 0.0000 0.0000 1.0000
vn 1.0000 0.0000 0.0000
usemtl M_white_plastic_glossy
s off
f 34/40/7 35/41/7 29/42/7 28/43/7
f 28/44/8 29/45/8 33/46/8 32/47/8
f 31/48/9 30/49/9 47/50/9 46/51/9
f 30/49/9 31/48/9 27/52/9 26/53/9
f 38/54/10 41/55/10 30/56/10 26/57/10
f 39/58/11 40/59/11 27/60/11 31/61/11
f 33/62/11 29/42/11 35/41/11 37/63/11
f 28/64/10 32/65/10 36/66/10 34/67/10
f 33/62/11 37/63/11 48/68/11 42/69/11
f 38/70/7 40/59/7 35/41/7 34/40/7
f 26/71/7 27/60/7 40/59/7 38/70/7
f 37/63/11 35/41/11 40/59/11 39/58/11
f 34/67/10 36/66/10 41/55/10 38/54/10
f 36/72/12 37/73/12 39/74/12 41/75/12
f 49/76/12 45/77/12 46/78/12 47/79/12
f 43/80/12 42/81/12 48/82/12 44/83/12
f 37/84/9 36/85/9 44/86/9 48/87/9
f 36/66/10 32/65/10 43/88/10 44/89/10
f 41/90/8 39/91/8 45/92/8 49/93/8
f 30/56/10 41/55/10 49/94/10 47/95/10
f 39/58/11 31/61/11 46/96/11 45/97/11
f 32/47/8 33/46/8 42/98/8 43/99/8
12 changes: 12 additions & 0 deletions models/adream/ff_floor.mtl
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# Blender MTL File: 'adream_empty.blend'
# Material Count: 1

newmtl M_lino_orange
Ns 237.689386
Ka 1.000000 1.000000 1.000000
Kd 0.381326 0.070360 0.020289
Ks 0.582618 0.582618 0.582618
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
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