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Merge pull request #503 from JdeRobot/pick-and-place
Pick and place universe
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‎CustomRobots/CMakeLists.txt‎

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@@ -152,6 +152,9 @@ install(DIRECTORY
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laser_mapping/models
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restaurant/models
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pick_place/models
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pick_place/urdf
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DESTINATION share/${PROJECT_NAME}

‎CustomRobots/drone_assets/models/grass_plane/meshes/cesped20.dae‎

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‎CustomRobots/drone_assets/models/grass_plane/meshes/grass.jpg‎

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‎CustomRobots/drone_assets/models/grass_plane/meshes/grass_plane.dae‎

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<?xml version="1.0" encoding="utf-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
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</contributor>
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<created>2025-04-01T11:40:37</created>
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<modified>2025-04-01T11:40:37</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_effects>
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<effect id="Material_002-effect">
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<profile_COMMON>
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<newparam sid="grass-surface">
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<surface type="2D">
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<init_from>grass</init_from>
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</surface>
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</newparam>
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<newparam sid="grass-sampler">
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<sampler2D>
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<source>grass-surface</source>
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</sampler2D>
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</newparam>
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<technique sid="common">
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<lambert>
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<emission>
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<color sid="emission">0 0 0 1</color>
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</emission>
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<diffuse>
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<texture texture="grass-sampler" texcoord="UVMap"/>
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</diffuse>
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<index_of_refraction>
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<float sid="ior">1.45</float>
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</index_of_refraction>
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</lambert>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_images>
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<image id="grass" name="grass">
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<init_from>grass.jpg</init_from>
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</image>
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</library_images>
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<library_materials>
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<material id="Material_002-material" name="Material.002">
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<instance_effect url="#Material_002-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="Plane_001-mesh" name="Plane.001">
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<mesh>
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<source id="Plane_001-mesh-positions">
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<float_array id="Plane_001-mesh-positions-array" count="12">-1 -1 0 1 -1 0 -1 1 0 1 1 0</float_array>
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<technique_common>
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<accessor source="#Plane_001-mesh-positions-array" count="4" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Plane_001-mesh-normals">
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<float_array id="Plane_001-mesh-normals-array" count="3">0 0 1</float_array>
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<technique_common>
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<accessor source="#Plane_001-mesh-normals-array" count="1" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Plane_001-mesh-map-0">
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<float_array id="Plane_001-mesh-map-0-array" count="12">1 0 0 1 0 0 1 0 1 1 0 1</float_array>
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<technique_common>
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<accessor source="#Plane_001-mesh-map-0-array" count="6" stride="2">
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<param name="S" type="float"/>
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<param name="T" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="Plane_001-mesh-vertices">
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<input semantic="POSITION" source="#Plane_001-mesh-positions"/>
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</vertices>
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<triangles material="Material_002-material" count="2">
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<input semantic="VERTEX" source="#Plane_001-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Plane_001-mesh-normals" offset="1"/>
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<input semantic="TEXCOORD" source="#Plane_001-mesh-map-0" offset="2" set="0"/>
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<p>1 0 0 2 0 1 0 0 2 1 0 3 3 0 4 2 0 5</p>
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_controllers/>
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<library_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="Plane" name="Plane" type="NODE">
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<matrix sid="transform">27 0 0 0 0 27 0 0 0 0 1 0 0 0 0 1</matrix>
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<instance_geometry url="#Plane_001-mesh" name="Plane">
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<bind_material>
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<technique_common>
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<instance_material symbol="Material_002-material" target="#Material_002-material">
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<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
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</instance_material>
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</technique_common>
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</bind_material>
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</instance_geometry>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#Scene"/>
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</scene>
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</COLLADA>

‎CustomRobots/drone_assets/models/grass_plane/meshes/grasssss.dae‎

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‎CustomRobots/drone_assets/models/grass_plane/meshes/smallgrass.dae‎

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‎CustomRobots/drone_assets/models/grass_plane/model.sdf‎

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</collision>
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<visual name='visual_0'>
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<pose>0 0 0 0 0 0</pose>
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<pose>2 -5 0 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>250 250</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 1.0 0.8 1.0</ambient>
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<diffuse>0.8 1.0 0.8 1.0</diffuse>
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<specular>0.1 0.1 0.1 1.0</specular>
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<pbr>
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<metal>
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<albedo_map>model://grass_plane/materials/textures/grass_dry1.png</albedo_map>
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<!-- <normal_map>model://grass_plane/materials/textures/grass_dry1.png</normal_map> -->
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</metal>
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</pbr>
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</material>
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</visual>
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<mesh>
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<uri>model://grass_plane/meshes/grass_plane.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>

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