From db1ac039eacdf641f404fe288ab58855d2e7d50c Mon Sep 17 00:00:00 2001 From: Yurii Stasinchuk Date: Mon, 3 Apr 2023 11:35:35 +0200 Subject: [PATCH] added balloons and balls to the simulation --- .../ball_green/materials/textures/green.png | Bin 0 -> 150 bytes models/ball_green/model.config | 16 +++ models/ball_green/model.sdf | 67 +++++++++++ models/ball_green/scripts/material.material | 19 +++ .../ball_orange/materials/textures/orange.png | Bin 0 -> 150 bytes models/ball_orange/model.config | 16 +++ models/ball_orange/model.sdf | 67 +++++++++++ models/ball_orange/scripts/material.material | 19 +++ models/ball_red/materials/textures/red.png | Bin 0 -> 150 bytes models/ball_red/model.config | 16 +++ models/ball_red/model.sdf | 67 +++++++++++ models/ball_red/scripts/material.material | 19 +++ .../materials/textures/green.png | Bin 0 -> 150 bytes models/balloon_green/meshes/balonek.stl | Bin 0 -> 250084 bytes models/balloon_green/model.config | 16 +++ models/balloon_green/model.sdf | 67 +++++++++++ .../balloon_green/scripts/material.material | 19 +++ .../materials/textures/red.png | Bin 0 -> 150 bytes models/balloon_on_a_stick/meshes/balonek.stl | Bin 0 -> 250084 bytes models/balloon_on_a_stick/model.config | 16 +++ models/balloon_on_a_stick/model.sdf | 111 ++++++++++++++++++ .../scripts/balloon_red.material | 19 +++ models/balloon_on_a_stick/tmp.sh | 4 + .../materials/textures/orange.png | Bin 0 -> 150 bytes models/balloon_orange/meshes/balonek.stl | Bin 0 -> 250084 bytes models/balloon_orange/model.config | 16 +++ models/balloon_orange/model.sdf | 67 +++++++++++ .../balloon_orange/scripts/material.material | 19 +++ models/balloon_red/materials/textures/red.png | Bin 0 -> 150 bytes models/balloon_red/meshes/balonek.stl | Bin 0 -> 250084 bytes models/balloon_red/model.config | 16 +++ models/balloon_red/model.sdf | 68 +++++++++++ .../balloon_red/scripts/balloon_red.material | 19 +++ 33 files changed, 763 insertions(+) create mode 100644 models/ball_green/materials/textures/green.png create mode 100644 models/ball_green/model.config create mode 100644 models/ball_green/model.sdf create mode 100644 models/ball_green/scripts/material.material create mode 100644 models/ball_orange/materials/textures/orange.png create mode 100644 models/ball_orange/model.config create mode 100644 models/ball_orange/model.sdf create mode 100644 models/ball_orange/scripts/material.material create mode 100644 models/ball_red/materials/textures/red.png create mode 100644 models/ball_red/model.config create mode 100644 models/ball_red/model.sdf create mode 100644 models/ball_red/scripts/material.material create mode 100644 models/balloon_green/materials/textures/green.png create mode 100644 models/balloon_green/meshes/balonek.stl create mode 100644 models/balloon_green/model.config create mode 100644 models/balloon_green/model.sdf create mode 100644 models/balloon_green/scripts/material.material create mode 100644 models/balloon_on_a_stick/materials/textures/red.png create mode 100644 models/balloon_on_a_stick/meshes/balonek.stl create mode 100644 models/balloon_on_a_stick/model.config create mode 100644 models/balloon_on_a_stick/model.sdf create mode 100644 models/balloon_on_a_stick/scripts/balloon_red.material create mode 100755 models/balloon_on_a_stick/tmp.sh create mode 100644 models/balloon_orange/materials/textures/orange.png create mode 100644 models/balloon_orange/meshes/balonek.stl create mode 100644 models/balloon_orange/model.config create mode 100644 models/balloon_orange/model.sdf create mode 100644 models/balloon_orange/scripts/material.material create mode 100644 models/balloon_red/materials/textures/red.png create mode 100644 models/balloon_red/meshes/balonek.stl create mode 100644 models/balloon_red/model.config create mode 100644 models/balloon_red/model.sdf create mode 100644 models/balloon_red/scripts/balloon_red.material diff --git a/models/ball_green/materials/textures/green.png b/models/ball_green/materials/textures/green.png new file mode 100644 index 0000000000000000000000000000000000000000..955b38117b507f054ef6dff8bc4725f382ce4c93 GIT binary patch literal 150 zcmeAS@N?(olHy`uVBq!ia0vp^j3CUx1SBVv2j2ryoCO|{#S9GG!XV7ZFl&wkP>{XE z)7O>#5r>$th-~AeuY5ou+02lL66gHf+|;}hAeVu`xhOTUBsE2$JhLQ2!QIn0AVn{g n9VpJ@>Eal|aXmTV$9V<@CMHIPRa*1ZK^i<={an^LB{Ts5l|vzL literal 0 HcmV?d00001 diff --git a/models/ball_green/model.config b/models/ball_green/model.config new file mode 100644 index 0000000..40e8965 --- /dev/null +++ b/models/ball_green/model.config @@ -0,0 +1,16 @@ + + + + Ball (green) + 1.0 + model.sdf + + + Matouš Vrba + vrbamato@fel.cvut.cz + + + + A simple model of a spherical ball with a green texture + + diff --git a/models/ball_green/model.sdf b/models/ball_green/model.sdf new file mode 100644 index 0000000..385af14 --- /dev/null +++ b/models/ball_green/model.sdf @@ -0,0 +1,67 @@ + + + + 0 + + 0 0 0.1 0 0 0 + + 0.3 + + 0.08611666666666669 + 0 + 0 + 0.08611666666666669 + 0 + 0.08611666666666669 + + + + + 0 0 2.0 0 0 0 + + + 0.25 + + + + + 0.347 + 8.8e+09 + + 100000 + 100 + 100.0 + 0.001 + + + + + 1.0 + 0 + 0.01 + + + + + + + 0 0 0 0 0 0 + + + 0.25 + + + + + + + + + + + + diff --git a/models/ball_green/scripts/material.material b/models/ball_green/scripts/material.material new file mode 100644 index 0000000..646bba0 --- /dev/null +++ b/models/ball_green/scripts/material.material @@ -0,0 +1,19 @@ + material BallGreen/Ball + { + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.0 0.0 0.0 1.0 0.5 + + texture_unit + { + texture green.png + filtering bilienear + scale 1.0 1.0 + } + } + } + } diff --git a/models/ball_orange/materials/textures/orange.png b/models/ball_orange/materials/textures/orange.png new file mode 100644 index 0000000000000000000000000000000000000000..d24964683b4ac25f71ed8757168f5364816dbe51 GIT binary patch literal 150 zcmeAS@N?(olHy`uVBq!ia0vp^j3CUx1SBVv2j2ryoCO|{#S9GG!XV7ZFl&wkP>{XE z)7O>#5r>$tB%^}ubsnIQY-UJAiF1B#Zfaf$kjuc}T$GwvlA5AWo>`Ki;O^-gkfN8$ n4ix9{ba4#fxSsrDe-|SIODN;2_|t+DK^i<={an^LB{Ts5Vl*Mp literal 0 HcmV?d00001 diff --git a/models/ball_orange/model.config b/models/ball_orange/model.config new file mode 100644 index 0000000..cb580cd --- /dev/null +++ b/models/ball_orange/model.config @@ -0,0 +1,16 @@ + + + + Ball (orange) + 1.0 + model.sdf + + + Matouš Vrba + vrbamato@fel.cvut.cz + + + + A simple model of a spherical ball with a orange texture + + diff --git a/models/ball_orange/model.sdf b/models/ball_orange/model.sdf new file mode 100644 index 0000000..9d0fa1e --- /dev/null +++ b/models/ball_orange/model.sdf @@ -0,0 +1,67 @@ + + + + 0 + + 0 0 0.1 0 0 0 + + 0.3 + + 0.08611666666666669 + 0 + 0 + 0.08611666666666669 + 0 + 0.08611666666666669 + + + + + 0 0 2.0 0 0 0 + + + 0.25 + + + + + 0.347 + 8.8e+09 + + 100000 + 100 + 100.0 + 0.001 + + + + + 1.0 + 0 + 0.01 + + + + + + + 0 0 0 0 0 0 + + + 0.25 + + + + + + + + + + + + diff --git a/models/ball_orange/scripts/material.material b/models/ball_orange/scripts/material.material new file mode 100644 index 0000000..56b152c --- /dev/null +++ b/models/ball_orange/scripts/material.material @@ -0,0 +1,19 @@ + material BallOrange/Ball + { + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.0 0.0 0.0 1.0 0.5 + + texture_unit + { + texture orange.png + filtering bilienear + scale 1.0 1.0 + } + } + } + } diff --git a/models/ball_red/materials/textures/red.png b/models/ball_red/materials/textures/red.png new file mode 100644 index 0000000000000000000000000000000000000000..d39f0bda13818e37ef1dbba2adabe7ee0999d334 GIT binary patch literal 150 zcmeAS@N?(olHy`uVBq!ia0vp^j3CUx1SBVv2j2ryoCO|{#S9GG!XV7ZFl&wkP>{XE z)7O>#5r>F~8Rz6ZJ7a-DvY8S|xv6<2KrRD=b5UwyNotBhd1gt5g1e`0K#E=} nJ5Zd*)5S4_<9hOs^G8@1nAsUwN*)Kxfi!r!`njxgN@xNAzvUur literal 0 HcmV?d00001 diff --git a/models/ball_red/model.config b/models/ball_red/model.config new file mode 100644 index 0000000..0844525 --- /dev/null +++ b/models/ball_red/model.config @@ -0,0 +1,16 @@ + + + + Ball (red) + 1.0 + model.sdf + + + Matouš Vrba + vrbamato@fel.cvut.cz + + + + A simple model of a spherical ball with a red texture + + diff --git a/models/ball_red/model.sdf b/models/ball_red/model.sdf new file mode 100644 index 0000000..f589d7f --- /dev/null +++ b/models/ball_red/model.sdf @@ -0,0 +1,67 @@ + + + + 0 + + 0 0 0.1 0 0 0 + + 0.3 + + 0.08611666666666669 + 0 + 0 + 0.08611666666666669 + 0 + 0.08611666666666669 + + + + + 0 0 2.0 0 0 0 + + + 0.25 + + + + + 0.347 + 8.8e+09 + + 100000 + 100 + 100.0 + 0.001 + + + + + 1.0 + 0 + 0.01 + + + + + + + 0 0 0 0 0 0 + + + 0.25 + + + + + + + + + + + + diff --git a/models/ball_red/scripts/material.material b/models/ball_red/scripts/material.material new file mode 100644 index 0000000..761bc77 --- /dev/null +++ b/models/ball_red/scripts/material.material @@ -0,0 +1,19 @@ + material BallRed/Ball 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+ 0 + 0 + 0.008611666666666669 + 0 + 0.008611666666666669 + + + + + 0 0 0.25 0 0 0 + + + model://balloon_red/meshes/balonek.stl + + + + + + + + + + + 0 + 0 0 0 0 0 0 + + + 0.01 + + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + 1 + 0 0 0 0 0 0 + + + 10 + + 0.08611666666666669 + 0 + 0 + 0.08611666666666669 + 0 + 0.08611666666666669 + + + + + 0 0 0 0 0 0 + + + 0.1 + 0.2 + + + + + + + + + 0 0 0 0 0 0 + + + 0.1 + 0.2 + + + + + + + + stick_link + anchor_link + + + balloon_link + stick_link + + + + + diff --git a/models/balloon_on_a_stick/scripts/balloon_red.material b/models/balloon_on_a_stick/scripts/balloon_red.material new file mode 100644 index 0000000..cee33a5 --- /dev/null +++ b/models/balloon_on_a_stick/scripts/balloon_red.material @@ -0,0 +1,19 @@ + material BalloonRed/Balloon + { + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.0 0.0 0.0 1.0 0.5 + + texture_unit + { + texture red.png + filtering bilienear + scale 1.0 1.0 + } + } + } + } diff --git a/models/balloon_on_a_stick/tmp.sh b/models/balloon_on_a_stick/tmp.sh new file mode 100755 index 0000000..cef1ba9 --- /dev/null +++ b/models/balloon_on_a_stick/tmp.sh @@ -0,0 +1,4 @@ +rosservice call /link_attacher_node/apply_force "model_name: 'balloon_stick' +link_name: 'balloon_link' +force: [0, 0, 500] +torque: [0, 0, 0]" diff --git a/models/balloon_orange/materials/textures/orange.png b/models/balloon_orange/materials/textures/orange.png new file mode 100644 index 0000000000000000000000000000000000000000..d24964683b4ac25f71ed8757168f5364816dbe51 GIT binary patch literal 150 zcmeAS@N?(olHy`uVBq!ia0vp^j3CUx1SBVv2j2ryoCO|{#S9GG!XV7ZFl&wkP>{XE z)7O>#5r>$tB%^}ubsnIQY-UJAiF1B#Zfaf$kjuc}T$GwvlA5AWo>`Ki;O^-gkfN8$ n4ix9{ba4#fxSsrDe-|SIODN;2_|t+DK^i<={an^LB{Ts5Vl*Mp literal 0 HcmV?d00001 diff --git a/models/balloon_orange/meshes/balonek.stl b/models/balloon_orange/meshes/balonek.stl new file mode 100644 index 0000000000000000000000000000000000000000..aaecd6efebc8bb8a91d0c083aa5718dff3f37d46 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vrbamato@fel.cvut.cz + + + + A simple model of a spherical balloon with a red texture + + diff --git a/models/balloon_red/model.sdf b/models/balloon_red/model.sdf new file mode 100644 index 0000000..06878dd --- /dev/null +++ b/models/balloon_red/model.sdf @@ -0,0 +1,68 @@ + + + + 0 + + 0 0 0 0 0 0 + + 0.3 + + 0.08611666666666669 + 0 + 0 + 0.08611666666666669 + 0 + 0.08611666666666669 + + + + + 0 0 0 0 0 0 + + + model://balloon_red/meshes/balonek.stl + + + + + 0.347 + 8.8e+09 + + 100000 + 100 + 100.0 + 0.001 + + + + + 1.0 + 0 + 0.01 + + + + + + + 0 0 0 0 0 0 + + + model://balloon_red/meshes/balonek.stl + + + + + + + + 1 + + + + + diff --git a/models/balloon_red/scripts/balloon_red.material b/models/balloon_red/scripts/balloon_red.material new file mode 100644 index 0000000..cee33a5 --- /dev/null +++ b/models/balloon_red/scripts/balloon_red.material @@ -0,0 +1,19 @@ + material BalloonRed/Balloon + { + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.0 0.0 0.0 1.0 0.5 + + texture_unit + { + texture red.png + filtering bilienear + scale 1.0 1.0 + } + } + } + }