mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
add optimized tray/traybox.urdf
This commit is contained in:
Erwin Coumans
parent
63486a712c
commit
65deeee64b
13
data/tray/tray_textured.mtl
Normal file
13
data/tray/tray_textured.mtl
Normal file
@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0.000000
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.800000 0.800000 0.800000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd tray.jpg
|
||||
213
data/tray/tray_textured.obj
Normal file
213
data/tray/tray_textured.obj
Normal file
@ -0,0 +1,213 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib tray_textured.mtl
|
||||
o edge_4_Cube.001
|
||||
v -0.573309 0.580000 0.261247
|
||||
v -0.426691 0.419400 -0.002214
|
||||
v -0.590083 0.580000 0.250354
|
||||
v -0.573309 -0.580000 0.261247
|
||||
v -0.409917 0.419400 0.008679
|
||||
v -0.590083 -0.580000 0.250354
|
||||
v -0.409917 -0.419400 0.009162
|
||||
v -0.426691 -0.419400 -0.001731
|
||||
vt 0.9046 0.2397
|
||||
vt 0.7929 0.2434
|
||||
vt 0.9174 0.2393
|
||||
vt 0.9537 0.7559
|
||||
vt 0.7801 0.2438
|
||||
vt 0.9664 0.7554
|
||||
vt 0.8291 0.7599
|
||||
vt 0.8419 0.7595
|
||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8392 0.0002 0.5438
|
||||
vn 0.8395 0.0000 0.5433
|
||||
vn 0.8396 -0.0000 0.5432
|
||||
vn 0.2568 -0.8819 -0.3954
|
||||
vn -0.8396 -0.0002 -0.5433
|
||||
vn -0.8392 -0.0000 -0.5438
|
||||
vn -0.8391 0.0000 -0.5439
|
||||
vn 0.5446 -0.0005 -0.8387
|
||||
vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8391 0.0003 0.5440
|
||||
vn -0.8397 -0.0003 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/2 5/5/3 1/1/4
|
||||
f 6/6/5 7/7/5 4/4/5
|
||||
f 3/3/6 8/8/7 6/6/8
|
||||
f 5/5/9 8/8/9 2/2/9
|
||||
f 4/4/10 3/3/10 6/6/10
|
||||
f 1/1/1 5/5/1 2/2/1
|
||||
f 4/4/2 7/7/11 5/5/3
|
||||
f 6/6/5 8/8/5 7/7/5
|
||||
f 3/3/6 2/2/12 8/8/7
|
||||
f 5/5/9 7/7/9 8/8/9
|
||||
f 4/4/10 1/1/10 3/3/10
|
||||
o edge_1_Cube.003
|
||||
v 0.580000 0.590083 0.250354
|
||||
v -0.419960 0.426691 -0.001860
|
||||
v -0.580000 0.590083 0.250354
|
||||
v 0.580000 0.573309 0.261247
|
||||
v 0.420014 0.426691 -0.001059
|
||||
v -0.580000 0.573309 0.261247
|
||||
v 0.420014 0.409917 0.009834
|
||||
v -0.419960 0.409917 0.009033
|
||||
vt 0.8346 0.9187
|
||||
vt 0.2203 0.8574
|
||||
vt 0.1480 0.9187
|
||||
vt 0.8346 0.9129
|
||||
vt 0.7623 0.8574
|
||||
vt 0.1480 0.9129
|
||||
vt 0.7623 0.8511
|
||||
vt 0.2203 0.8511
|
||||
vn 0.0004 0.8386 -0.5448
|
||||
vn 0.0001 0.8391 -0.5439
|
||||
vn 0.0000 0.8393 -0.5437
|
||||
vn 0.8823 -0.2564 -0.3948
|
||||
vn -0.0004 -0.8392 0.5439
|
||||
vn -0.0001 -0.8386 0.5447
|
||||
vn 0.0000 -0.8385 0.5449
|
||||
vn -0.8826 -0.2560 -0.3942
|
||||
vn 0.0008 -0.5446 -0.8387
|
||||
vn 0.0000 0.5446 0.8387
|
||||
vn 0.0005 0.8383 -0.5452
|
||||
vn -0.0005 -0.8394 0.5435
|
||||
usemtl None
|
||||
s 1
|
||||
f 9/9/13 10/10/14 11/11/15
|
||||
f 12/12/16 13/13/16 9/9/16
|
||||
f 14/14/17 15/15/18 12/12/19
|
||||
f 11/11/20 16/16/20 14/14/20
|
||||
f 13/13/21 16/16/21 10/10/21
|
||||
f 12/12/22 11/11/22 14/14/22
|
||||
f 9/9/13 13/13/23 10/10/14
|
||||
f 12/12/16 15/15/16 13/13/16
|
||||
f 14/14/17 16/16/24 15/15/18
|
||||
f 11/11/20 10/10/20 16/16/20
|
||||
f 13/13/21 15/15/21 16/16/21
|
||||
f 12/12/22 9/9/22 11/11/22
|
||||
o edge_2_Cube
|
||||
v 0.590083 0.580000 0.250354
|
||||
v 0.409917 0.420060 0.009390
|
||||
v 0.573309 0.580000 0.261247
|
||||
v 0.590083 -0.580000 0.250354
|
||||
v 0.426691 0.420060 -0.001503
|
||||
v 0.573309 -0.580000 0.261247
|
||||
v 0.426691 -0.419158 -0.002053
|
||||
v 0.409917 -0.419158 0.008840
|
||||
vt 0.9410 0.8520
|
||||
vt 0.7523 0.8566
|
||||
vt 0.9234 0.8524
|
||||
vt 0.8896 0.1426
|
||||
vt 0.7698 0.8562
|
||||
vt 0.8721 0.1430
|
||||
vt 0.7185 0.1468
|
||||
vt 0.7009 0.1472
|
||||
vn -0.2561 0.8826 -0.3943
|
||||
vn 0.8394 0.0003 -0.5435
|
||||
vn 0.8390 0.0001 -0.5441
|
||||
vn 0.8389 0.0000 -0.5443
|
||||
vn -0.2569 -0.8818 -0.3956
|
||||
vn -0.8390 -0.0003 0.5441
|
||||
vn -0.8394 -0.0001 0.5436
|
||||
vn -0.8395 -0.0000 0.5434
|
||||
vn -0.5446 0.0005 -0.8387
|
||||
vn 0.5446 -0.0000 0.8387
|
||||
vn 0.8396 0.0004 -0.5433
|
||||
vn -0.8388 -0.0004 0.5444
|
||||
usemtl None
|
||||
s 1
|
||||
f 17/17/25 18/18/25 19/19/25
|
||||
f 20/20/26 21/21/27 17/17/28
|
||||
f 22/22/29 23/23/29 20/20/29
|
||||
f 19/19/30 24/24/31 22/22/32
|
||||
f 21/21/33 24/24/33 18/18/33
|
||||
f 20/20/34 19/19/34 22/22/34
|
||||
f 17/17/25 21/21/25 18/18/25
|
||||
f 20/20/26 23/23/35 21/21/27
|
||||
f 22/22/29 24/24/29 23/23/29
|
||||
f 19/19/30 18/18/36 24/24/31
|
||||
f 21/21/33 23/23/33 24/24/33
|
||||
f 20/20/34 17/17/34 19/19/34
|
||||
o base_Cube.004
|
||||
v 0.420000 0.420000 0.010000
|
||||
v -0.420000 0.420000 -0.010000
|
||||
v -0.420000 0.420000 0.010000
|
||||
v 0.420000 -0.420000 0.010000
|
||||
v 0.420000 0.420000 -0.010000
|
||||
v -0.420000 -0.420000 0.010000
|
||||
v 0.420000 -0.420000 -0.010000
|
||||
v -0.420000 -0.420000 -0.010000
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3038 0.8371
|
||||
vt -0.3038 0.8371
|
||||
vt 0.7012 0.1905
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3550 0.2204
|
||||
vt 0.7012 0.1905
|
||||
vt -0.3550 0.2204
|
||||
vn 0.0000 1.0000 0.0000
|
||||
vn 1.0000 -0.0000 0.0000
|
||||
vn 0.0000 -1.0000 0.0000
|
||||
vn -1.0000 -0.0000 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
vn 0.0000 -0.0000 1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 25/25/37 26/26/37 27/27/37
|
||||
f 28/28/38 29/29/38 25/25/38
|
||||
f 30/30/39 31/31/39 28/28/39
|
||||
f 27/27/40 32/32/40 30/30/40
|
||||
f 29/29/41 32/32/41 26/26/41
|
||||
f 28/28/42 27/27/42 30/30/42
|
||||
f 25/25/37 29/29/37 26/26/37
|
||||
f 28/28/38 31/31/38 29/29/38
|
||||
f 30/30/39 32/32/39 31/31/39
|
||||
f 27/27/40 26/26/40 32/32/40
|
||||
f 29/29/41 31/31/41 32/32/41
|
||||
f 28/28/42 25/25/42 27/27/42
|
||||
o edge_3_Cube.002
|
||||
v 0.580000 -0.573309 0.261247
|
||||
v -0.419400 -0.409917 0.008678
|
||||
v -0.580000 -0.573309 0.261247
|
||||
v 0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.409917 0.009162
|
||||
v -0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.426691 -0.001731
|
||||
v -0.419400 -0.426691 -0.002215
|
||||
vt 0.8690 0.1040
|
||||
vt 0.1365 0.1739
|
||||
vt 0.0188 0.1040
|
||||
vt 0.8690 0.0968
|
||||
vt 0.7517 0.1739
|
||||
vt 0.0188 0.0968
|
||||
vt 0.7517 0.1668
|
||||
vt 0.1365 0.1668
|
||||
vn -0.0002 0.8392 0.5438
|
||||
vn -0.0000 0.8395 0.5433
|
||||
vn 0.0000 0.8396 0.5432
|
||||
vn 0.8825 0.2562 -0.3945
|
||||
vn 0.0002 -0.8396 -0.5433
|
||||
vn 0.0000 -0.8392 -0.5438
|
||||
vn 0.0000 -0.8391 -0.5439
|
||||
vn -0.8821 0.2565 -0.3950
|
||||
vn -0.8822 0.2565 -0.3950
|
||||
vn 0.0005 0.5446 -0.8387
|
||||
vn 0.0000 -0.5446 0.8387
|
||||
vn -0.0003 0.8391 0.5440
|
||||
vn 0.0003 -0.8397 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 33/33/43 34/34/44 35/35/45
|
||||
f 36/36/46 37/37/46 33/33/46
|
||||
f 38/38/47 39/39/48 36/36/49
|
||||
f 35/35/50 40/40/51 38/38/51
|
||||
f 37/37/52 40/40/52 34/34/52
|
||||
f 36/36/53 35/35/53 38/38/53
|
||||
f 33/33/43 37/37/54 34/34/44
|
||||
f 36/36/46 39/39/46 37/37/46
|
||||
f 38/38/47 40/40/55 39/39/48
|
||||
f 35/35/50 34/34/51 40/40/51
|
||||
f 37/37/52 39/39/52 40/40/52
|
||||
f 36/36/53 33/33/53 35/35/53
|
||||
49
data/tray/traybox.urdf
Normal file
49
data/tray/traybox.urdf
Normal file
@ -0,0 +1,49 @@
|
||||
<robot name="tabletop">
|
||||
<link name="base_link">
|
||||
<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"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="tray_material">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.005"/>
|
||||
<geometry>
|
||||
<box size=".6 .6 .02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
|
||||
<geometry>
|
||||
<box size=".02 .6 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 -0.575469961 0" xyz="-0.25 0 0.059"/>
|
||||
<geometry>
|
||||
<box size=".02 .6 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0.575469961 0 0" xyz="0 -0.25 0.059"/>
|
||||
<geometry>
|
||||
<box size=".6 .02 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
|
||||
<geometry>
|
||||
<box size=".6 .02 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user