Add cyberzoo surroundings to main model in separate layers

2026-05-27 08:55:51 +08:00 · 2018-02-01 14:59:44 +01:00
parent 9df9f2832c
commit 1d4fd2d92f
31 changed files with 50 additions and 112 deletions
@@ -4,10 +4,9 @@
    <static>true</static>
    <pose>0 0 0 0 0 0</pose>
-    <link name="cyberzoo_link">
+    <link name="cyberzoo_link">      
      <pose>-5 -5 0.01 0 0 0</pose>
      <visual name="floor">
        <pose>-5 -5 0.01 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -15,16 +14,9 @@
          </mesh>
        </geometry>
      </visual>
      <collision name="floor">
        <pose>5 5 -0.005 0 0 0</pose>
        <geometry>
          <box>
            <size>10 10 0.01</size>
          </box>
        </geometry>
      </collision>
      <visual name="poles">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -42,6 +34,7 @@
        </meta>
      </visual>
      <visual name="wires">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -53,6 +46,7 @@
        </meta>
      </visual>
      <visual name="cams">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -64,6 +58,7 @@
        </meta>
      </visual>
      <visual name="lighting">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -75,6 +70,7 @@
        </meta>
      </visual>
      <visual name="glow">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -93,6 +89,7 @@
      </visual>
      <visual name="walls">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -104,6 +101,7 @@
        </meta>
      </visual>
      <visual name="net">
        <pose>-5 -5 0 0 0 0</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
@@ -120,6 +118,47 @@
          <layer>1</layer>
        </meta>
      </visual>
      <visual name="surroundings">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo/cyberzoo_surroundings.dae</uri>
          </mesh>
        </geometry>
        <meta>
          <layer>2</layer>
        </meta>
      </visual>
      <visual name="toolcart">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo/cyberzoo_toolcart.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>model://cyberzoo/cyberzoo_toolcart</uri>
            <name>Cyberzoo/Toolcart</name>
          </script>
        </material>
        <meta>
          <layer>2</layer>
        </meta>
      </visual>
      <visual name="outer_walls">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo/cyberzoo_outer_walls.dae</uri>
          </mesh>
        </geometry>
        <meta>
          <layer>3</layer>
        </meta>
      </visual>
    </link>
  </model>
@@ -1,20 +0,0 @@
 <?xml version='1.0'?>
 <sdf version='1.4'>
  <model name="cyberzoo_outer_walls">
    <static>true</static>
    <pose>0 0 0 0 0 0</pose>
    <link name="cyberzoo_outer_walls">
      <pose>0 0 0 0 0 0</pose>
      <visual name="walls">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo_outer_walls/cyberzoo_outer_walls.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
 </sdf>
@@ -1,15 +0,0 @@
 <?xml version="1.0"?>
 <model>
  <name>Cyberzoo outer walls</name>
  <version>1.0</version>
  <sdf version='1.6'>cyberzoo_outer_walls.sdf</sdf>
  <author>
   <name>Tom van Dijk</name>
   <email>tomvand@users.noreply.github.com</email>
  </author>
  <description>
    Outer walls of the TU Delft airplane hall
  </description>
 </model>
@@ -1,35 +0,0 @@
 <?xml version='1.0'?>
 <sdf version='1.4'>
  <model name="cyberzoo_surroundings">
    <static>true</static>
    <pose>0 0 0 0 0 0</pose>
    <link name="cyberzoo_surroundings">
      <pose>0 0 0 0 0 0</pose>
      <visual name="surroundings">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo_surroundings/cyberzoo_surroundings.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name="toolcart">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <uri>model://cyberzoo_surroundings/cyberzoo_toolcart.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>model://cyberzoo_surroundings/cyberzoo_toolcart</uri>
            <name>Cyberzoo/Toolcart</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
 </sdf>
@@ -1,15 +0,0 @@
 <?xml version="1.0"?>
 <model>
  <name>Cyberzoo environment</name>
  <version>1.0</version>
  <sdf version='1.6'>cyberzoo_surroundings.sdf</sdf>
  <author>
   <name>Tom van Dijk</name>
   <email>tomvand@users.noreply.github.com</email>
  </author>
  <description>
    Environment surrounding the TU Delft Cyberzoo
  </description>
 </model>
@@ -39,13 +39,5 @@
      <uri>model://cyberzoo</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
    <include>
      <uri>model://cyberzoo_surroundings</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
    <include>
      <uri>model://cyberzoo_outer_walls</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
  </world>
 </sdf>
@@ -39,14 +39,6 @@
      <uri>model://cyberzoo</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
    <include>
      <uri>model://cyberzoo_surroundings</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
    <include>
      <uri>model://cyberzoo_outer_walls</uri>
      <pose>0 0 0 0 0 0.454</pose>
    </include>
    <include>
      <uri>model://orange_pole</uri>