diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l new file mode 100644 index 0000000..828c6f0 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l @@ -0,0 +1,37 @@ +;; box.l +;; Author: Yuki Furuta + +(defclass box-object + :super cascaded-link) + +(defmethod box-object + (:init + (&rest args &key (name "dropping_zone_box") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys) + (let (c bc + blink0 + box inner) + (setq box (make-cube 100000 50000 80000 :pos #f(0 0 40000))) + (setq inner (make-cube 95000 45000 77500 :pos #f(0 0 42500))) + (setq box (body- box inner)) + + (send-super* :init :name name args) + (setq bc (list box)) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box-bodyset :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + ;; definition of assoc + (send self :assoc blink0) + (setq links (list blink0)) + (setq joint-list (list)) + (send self :init-ending) + (send self :move-to (make-coords :pos pos :rot rot)) + (send-all links :worldcoords) + self)) + + (:handle (&rest args) (forward-message-to-all (list ) args)) + (:attention (&rest args) (forward-message-to-all (list ) args)) + (:button (&rest args) (forward-message-to-all (list ) args)) +) + +(defun box (&rest args) (instance* box-object :init args)) + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l new file mode 100644 index 0000000..99e43b9 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l @@ -0,0 +1,8 @@ +;; box-to-collada.l +;; Author: Yuki Furuta + +(load "irteus/irtcollada.l") + +(load "box-object.l") +(collada::eus2collada (box) ".") +(exit) diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh new file mode 100755 index 0000000..93a482d --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +if [ "`which gzsdf`" = "" ]; then + GZSDF="gz sdf -p" +else + GZSDF="gzsdf print" +fi +rm -rf meshes model.sdf model.urdf dropping_zone_box.dae +roseus box-to-collada.l +sed -i -e 's/nil/box/g' dropping_zone_box.dae +rosrun collada_urdf collada_to_urdf dropping_zone_box.dae -G -A --mesh_output_dir meshes --mesh_prefix "model://dropping_zone_box/meshes" -O model.urdf +$GZSDF model.urdf > model.sdf +sed -i -e 's/.*<\/mass>/20<\/mass>/g' model.sdf +sed -i -e 's@.*@1@g' model.sdf +sed -i -e 's@.*@1@g' model.sdf +sed -i -e 's@.*@1@g' model.sdf diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae new file mode 100644 index 0000000..4357b2d --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae @@ -0,0 +1,101 @@ + + + + + Someone + Assimp Collada Exporter + + 2000-01-01T23:59:59 + 2000-01-01T23:59:59 + + Y_UP + + + + + + + + 0 0 0 1 + + + 0.371094 0.371094 0.371094 1 + + + 0.742188 0.742188 0.742188 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + + + + + + -50 25 80 -50 25 0 -50 -25 0 -50 -25 80 -50 -25 0 50 -25 0 50 -25 80 -50 -25 80 50 -25 0 50 25 0 50 25 80 50 -25 80 50 25 80 -50 25 80 -47.5 22.5 80 47.5 22.5 80 50 -25 80 -50 -25 80 -47.5 -22.5 80 47.5 -22.5 80 50 25 0 -50 25 0 -50 25 80 50 25 80 -50 25 0 50 25 0 50 -25 0 -50 -25 0 -47.5 22.5 3.75 -47.5 22.5 80 -47.5 -22.5 80 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 -22.5 3.75 -47.5 -22.5 80 47.5 -22.5 80 47.5 22.5 3.75 47.5 -22.5 3.75 47.5 -22.5 80 47.5 22.5 80 47.5 22.5 3.75 -47.5 22.5 3.75 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 22.5 3.75 47.5 22.5 3.75 47.5 22.5 80 -47.5 22.5 80 + + + + + + + + + + -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -0 1 0 0 1 0 -0 1 0 0 1 0 1 0 0 1 0 0 1 0 -0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1 0 -0 1 0 -0 1 0 -0 1 0 0 0 1 0 0 1 0 0 1 0 -0 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 12 14 15 16 12 15 14 13 17 18 14 17 19 18 17 19 17 16 19 16 15 20 21 22 22 23 20 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config new file mode 100644 index 0000000..b3943ea --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config @@ -0,0 +1,11 @@ + + + dropping_zone_box + 1.0 + model.sdf + + Yuki Furuta + furushchev@jsk.imi.i.u-tokyo.ac.jp + + mbzirc-jsk + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf new file mode 100644 index 0000000..3979c85 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf @@ -0,0 +1,51 @@ + + + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://dropping_zone_box/meshes/box_link_mesh.dae + + + + + + + + + 0.9 + 0.9 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://dropping_zone_box/meshes/box_link_mesh.dae + + + + 1 + + 0 + + + diff --git a/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world b/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world index 82c7217..e0d75ce 100644 --- a/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world +++ b/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world @@ -257,6 +257,12 @@ + + -65 25 0 0 0 0 + + model://dropping_zone_box + +