Commits

Nathan Koenig  committed 38f72fa Merge

Merged from dev

  • Participants
  • Parent commits 0f137b4, c74d096
  • Tags 1.0.1

Comments (0)

Files changed (396)

File CMakeLists.txt

 set (GAZEBO_VERSION_NAME "hydrogen")
 set (GAZEBO_MAJOR_VERSION 1)
 set (GAZEBO_MINOR_VERSION 0)
-set (GAZEBO_PATCH_VERSION 0)
+set (GAZEBO_PATCH_VERSION 1)
 
 set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})
 

File Media/materials/programs/projector.cg

+void projectedTexture_vp(
+      float4 pos         : POSITION,
+      out float4 oPos      : POSITION,
+      out float4 texCoord : TEXCOORD0,
+
+      uniform float4x4 worldViewProjMatrix,
+      uniform float4x4 worldMatrix,
+      uniform float4x4 texViewProjMatrix)
+{
+   oPos = mul(worldViewProjMatrix, pos);
+   float4 newpos = mul(worldMatrix, pos);
+   texCoord = mul(texViewProjMatrix, newpos);
+}
+
+void projectedTexture_fp(
+      float4 texCoord      : TEXCOORD0,
+      out float4 col      : COLOR,
+      uniform sampler2D texMap
+)
+{
+   col =  texCoord.w < 0 ? 0 : tex2Dproj(texMap, texCoord);
+
+}

File Media/materials/programs/projector.frag

+uniform sampler2D projMap;
+
+void main (void)
+{
+  gl_FragColor = (gl_TexCoord[0].q > 0.0 ) ? 0 :  texture2DProj(projMap, gl_TexCoord[0]);
+}

File Media/materials/programs/projector.vert

+uniform mat4 texProjMatrix;
+uniform mat4 worldMatrix;
+
+varying vec3 normal, lightDir, eyeVec;
+
+void main()
+{	
+	normal = gl_NormalMatrix * gl_Normal;
+	
+	vec4 posEye =  gl_ModelViewMatrix * gl_Vertex;
+	vec4 posWorld = worldMatrix * gl_Vertex;
+	gl_TexCoord[0] = texProjMatrix * posWorld;
+
+	lightDir = vec3(gl_LightSource[0].position.xyz - posEye.xyz);
+	eyeVec = -posEye.xyz;
+
+	gl_Position = ftransform();		
+}

File Media/materials/scripts/Gazebo.material

 		pass ambient
 		{
 			ambient 1 0 0 
+      diffuse 1 0 0
+      specular 0.1 0.1 0.1 1 1
 		}
-
-    pass light
-    {
-			diffuse 1 0 0 
-			specular .1 .1 .1 128 
-    }
-
-
 	}
 }
 
 	{
 		pass ambient
 		{
-			ambient 0 1 0 
-		}
-
-		pass light
-		{
-			diffuse 0 1 0 
-			specular .1 .1 .1 128 
+			ambient 0 1 0
+      diffuse 0 1 0
+      specular 0.1 0.1 0.1 1 1
 		}
 	}
 }
 	{
     pass ambient
     {
-			ambient 0 0 1 
-    }
-
-    pass light
-    {
-			diffuse 0 0 1 
-			specular .1 .1 .1 128 
-      emissive 0 0 0
+			ambient 0 0 1
+      diffuse 0 0 1
+      specular 0.1 0.1 0.1 1 1
     }
 	}
 }
 	{
 		pass ambient
 		{
-			ambient 1 1 0 
-		}
-
-    pass light
-    {
-			diffuse 1 1 0 
-			specular .1 .1 .1 128 
+			ambient 1 1 0
+      diffuse 1 1 0
+      specular 0.1 0.1 0.1 1 1
     }
 	}
 }
 	{
 		pass ambient
 		{
-			ambient 1 0 1 
+			ambient 1 0 1
+      diffuse 1 0 1
+      specular 0.1 0.1 0.1 1 1
 		}
-
-    pass light
-    {
-			diffuse 1 0 1 
-			specular .1 .1 .1 128 
-    }
 	}
 }
 
 	{
 		pass ambient
 		{
-			ambient 0 1 1 
+			ambient 0 1 1
+      diffuse 0 1 1
+      specular 0.1 0.1 0.1 1 1
 		}
-
-    pass light
-    {
-			diffuse 0 1 1 
-			specular .1 .1 .1 128 
-    }
 	}
 }
 

File Media/materials/textures/CMakeLists.txt

             granite.jpg
             granite2.jpg
             grass.jpg
-            dirt_grayrocky_diffusespecular.dds
-            dirt_grayrocky_normalheight.dds
-            grass_green-01_diffusespecular.dds
-            grass_green-01_normalheight.dds
-            growth_weirdfungus-03_diffusespecular.dds
-            growth_weirdfungus-03_normalheight.dds
+            dirt_diffusespecular.png
+            dirt_normal.png
+            grass_diffusespecular.png
+            grass_normal.png
+            fungus_diffusespecular.png
+            fungus_normal.png
+            heightmap_bowl.png
+            projection_filter.png
+            stereo_projection_pattern_high_res.png
+            stereo_projection_pattern_high_res_red.png
 )
 
 
 INSTALL(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gazebo-${GAZEBO_VERSION}/Media/materials/textures/)
-
-

File Media/materials/textures/dirt_diffusespecular.png

Added
New image

File Media/materials/textures/dirt_grayrocky_diffusespecular.dds

Binary file removed.

File Media/materials/textures/dirt_grayrocky_normalheight.dds

Binary file removed.

File Media/materials/textures/dirt_normal.png

Added
New image

File Media/materials/textures/fungus_diffusespecular.png

Added
New image

File Media/materials/textures/fungus_normal.png

Added
New image

File Media/materials/textures/grass_diffusespecular.png

Added
New image

File Media/materials/textures/grass_green-01_diffusespecular.dds

Binary file removed.

File Media/materials/textures/grass_green-01_normalheight.dds

Binary file removed.

File Media/materials/textures/grass_normal.png

Added
New image

File Media/materials/textures/growth_weirdfungus-03_diffusespecular.dds

Binary file removed.

File Media/materials/textures/growth_weirdfungus-03_normalheight.dds

Binary file removed.

File Media/materials/textures/heightmap_bowl.png

Added
New image

File Media/materials/textures/projection_filter.png

Added
New image

File Media/materials/textures/stereo_projection_pattern_high_res.png

Added
New image

File Media/materials/textures/stereo_projection_pattern_high_res_red.png

Added
New image

File Media/models/14_4v_cordless_drill.dae

+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Wed Apr 25 01:31:43 2012</created>
+        <modified>Wed Apr 25 01:31:43 2012</modified>
+    </asset>
+    <library_images>
+        <image id="texture0" name="texture0">
+            <init_from>14_4v_cordless_drill.jpg</init_from>
+        </image>
+    </library_images>
+    <library_materials>
+        <material id="material0" name="material0">
+            <instance_effect url="#material0-fx"/>
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="material0-fx">
+            <profile_COMMON>
+                <newparam sid="texture0-surface">
+                    <surface type="2D">
+                        <init_from>texture0</init_from>
+                        <format>R8G8B8</format>
+                    </surface>
+                </newparam>
+                <newparam sid="texture0-sampler">
+                    <sampler2D>
+                        <source>texture0-surface</source>
+                        <minfilter>LINEAR</minfilter>
+                        <magfilter>LINEAR</magfilter>
+                    </sampler2D>
+                </newparam>
+                <technique sid="common">
+                    <blinn>
+                        <emission>
+                            <color>0 0 0 1</color>
+                        </emission>
+                        <ambient>
+                            <color>0 0 0 1</color>
+                        </ambient>
+                        <diffuse>
+                            <texture texture="texture0" texcoord="UVSET0"/>
+                        </diffuse>
+                        <specular>
+                            <color>0 0 0 1</color>
+                        </specular>
+                        <shininess>
+                            <float>0.3</float>
+                        </shininess>
+                        <reflective>
+                            <color>0 0 0 1</color>
+                        </reflective>
+                        <reflectivity>
+                            <float>0.5</float>
+                        </reflectivity>
+                        <transparent>
+                            <color>0 0 0 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>0</float>
+                        </transparency>
+                        <index_of_refraction>
+                            <float>0</float>
+                        </index_of_refraction>
+                    </blinn>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="1695">-7.812 71.44 338.7 -7.818 71.43 338.7 -32.27 -26.37 106.8 -39.01 12.04 271.6 -33.58 24.79 303.2 -40.06 18.88 304.9 -30.06 -67.05 100.4 31.5 -8.883 283.6 -39.04 -19.37 108.6 -40.58 5.535 285.2 -136.8 19.64 297.1 -24.09 55.33 106.9 -10.96 10.56 243 -136.8 43.96 292.6 -141.5 40.84 295.2 -16.96 47.6 340.8 -41.25 53.18 272.7 30.73 -20.27 283 29.94 -19.47 284.6 -35.14 -10.7 171.1 -26.88 28.47 334.7 -42.44 49.15 268.2 -43.21 49.11 274.3 -42.63 55.37 281.2 -36.87 -2.169 300.1 30.74 2.321 280.8 -142.5 16.43 283.8 -42.13 10.78 297.5 -137.9 34.82 271.3 -106.4 31.14 269.8 -28.96 -31.49 282.8 -26.13 -72.44 286 -46.51 23.83 272.4 -13.04 -101.7 282.8 -20.77 -95.59 282.6 30.36 -62.88 99.19 -11.8 115.6 339.5 -16.37 97.92 339.4 -60.84 45.54 295.1 -143.3 32.21 295.9 -143.6 24 278.3 -45.97 19.59 274.2 22.38 -97.87 285.8 32.32 -39.07 298.2 -136.7 35.9 299.7 -133.1 41.52 296.2 -22.31 101.4 330.7 -23.94 49.33 152.7 35.76 -62.14 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98 790 2371 560 790 2372 560 791 2373 98 791 2374 6 791 2375 522 792 2376 302 792 2377 243 792 2378 242 793 2379 243 793 2380 302 793 2381 150 794 2382 243 794 2383 242 794 2384 150 795 2385 242 795 2386 187 795 2387 159 796 2388 410 796 2389 66 796 2390 452 797 2391 207 797 2392 453 797 2393 207 798 2394 521 798 2395 453 798 2396 453 799 2397 521 799 2398 151 799 2399 151 800 2400 217 800 2401 453 800 2402 388 801 2403 449 801 2404 429 801 2405 449 802 2406 388 802 2407 387 802 2408 429 803 2409 533 803 2410 388 803 2411 281 804 2412 388 804 2413 533 804 2414 281 805 2415 387 805 2416 388 805 2417 117 806 2418 553 806 2419 421 806 2420 117 807 2421 421 807 2422 472 807 2423 392 808 2424 117 808 2425 472 808 2426 289 809 2427 22 809 2428 554 809 2429 22 810 2430 289 810 2431 23 810 2432 10 811 2433 144 811 2434 441 811 2435 401 812 2436 359 812 2437 310 812 2438 359 813 2439 401 813 2440 394 813 2441 359 814 2442 479 814 2443 310 814 2444 401 815 2445 561 815 2446 394 815 2447 485 816 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2526 391 842 2527 541 842 2528 232 843 2529 541 843 2530 3 843 2531 191 844 2532 272 844 2533 223 844 2534 255 845 2535 223 845 2536 272 845 2537 191 846 2538 265 846 2539 272 846 2540 191 847 2541 223 847 2542 338 847 2543 272 848 2544 489 848 2545 255 848 2546 255 849 2547 439 849 2548 223 849 2549 271 850 2550 223 850 2551 439 850 2552 485 851 2553 338 851 2554 223 851 2555 223 852 2556 271 852 2557 485 852 2558 438 853 2559 271 853 2560 439 853 2561 439 854 2562 435 854 2563 438 854 2564 271 855 2565 438 855 2566 485 855 2567 95 856 2568 203 856 2569 55 856 2570 203 857 2571 95 857 2572 490 857 2573 490 858 2574 33 858 2575 203 858 2576 95 859 2577 55 859 2578 466 859 2579 524 860 2580 55 860 2581 203 860 2582 466 861 2583 330 861 2584 95 861 2585 466 862 2586 55 862 2587 54 862 2588 55 863 2589 524 863 2590 54 863 2591 515 864 2592 466 864 2593 54 864 2594 203 865 2595 42 865 2596 524 865 2597 515 866 2598 330 866 2599 466 866 2600 110 867 2601 95 867 2602 330 867 2603 139 868 2604 549 868 2605 554 868 2606 544 869 2607 554 869 2608 549 869 2609 280 870 2610 139 870 2611 554 870 2612 280 871 2613 554 871 2614 194 871 2615 554 872 2616 22 872 2617 194 872 2618 21 873 2619 280 873 2620 194 873 2621 280 874 2622 21 874 2623 105 874 2624 21 875 2625 363 875 2626 105 875 2627 363 876 2628 21 876 2629 194 876 2630 22 877 2631 16 877 2632 194 877 2633 16 878 2634 363 878 2635 194 878 2636 208 879 2637 452 879 2638 258 879 2639 452 880 2640 453 880 2641 258 880 2642 217 881 2643 258 881 2644 453 881 2645 212 882 2646 258 882 2647 217 882 2648 452 883 2649 208 883 2650 372 883 2651 230 884 2652 372 884 2653 208 884 2654 540 885 2655 251 885 2656 516 885 2657 251 886 2658 486 886 2659 516 886 2660 526 887 2661 329 887 2662 96 887 2663 328 888 2664 96 888 2665 329 888 2666 96 889 2667 328 889 2668 77 889 2669 96 890 2670 77 890 2671 536 890 2672 270 891 2673 77 891 2674 328 891 2675 154 892 2676 328 892 2677 329 892 2678 467 893 2679 402 893 2680 351 893 2681 351 894 2682 402 894 2683 165 894 2684 351 895 2685 510 895 2686 467 895 2687 510 896 2688 351 896 2689 443 896 2690 510 897 2691 443 897 2692 496 897 2693 130 898 2694 418 898 2695 425 898 2696 41 899 2697 418 899 2698 130 899 2699 189 900 2700 130 900 2701 425 900 2702 220 901 2703 41 901 2704 130 901 2705 189 902 2706 291 902 2707 130 902 2708 371 903 2709 130 903 2710 291 903 2711 189 904 2712 9 904 2713 291 904 2714 425 905 2715 9 905 2716 189 905 2717 291 906 2718 9 906 2719 132 906 2720 371 907 2721 291 907 2722 420 907 2723 27 908 2724 291 908 2725 132 908 2726 441 909 2727 39 909 2728 108 909 2729 40 910 2730 441 910 2731 108 910 2732 108 911 2733 39 911 2734 264 911 2735 26 912 2736 441 912 2737 40 912 2738 367 913 2739 40 913 2740 108 913 2741 39 914 2742 441 914 2743 144 914 2744 238 915 2745 40 915 2746 367 915 2747 520 916 2748 26 916 2749 40 916 2750 238 917 2751 520 917 2752 40 917 2753 490 918 2754 95 918 2755 211 918 2756 211 919 2757 95 919 2758 110 919 2759 490 920 2760 211 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2839 272 946 2840 415 947 2841 414 947 2842 166 947 2843 265 948 2844 84 948 2845 219 948 2846 84 949 2847 415 949 2848 219 949 2849 403 950 2850 165 950 2851 215 950 2852 165 951 2853 403 951 2854 351 951 2855 356 952 2856 186 952 2857 70 952 2858 284 953 2859 70 953 2860 186 953 2861 36 954 2862 284 954 2863 186 954 2864 185 955 2865 186 955 2866 356 955 2867 185 956 2868 36 956 2869 186 956 2870 310 957 2871 479 957 2872 346 957 2873 109 958 2874 549 958 2875 139 958 2876 549 959 2877 109 959 2878 199 959 2879 232 960 2880 549 960 2881 199 960 2882 115 961 2883 336 961 2884 348 961 2885 404 962 2886 138 962 2887 105 962 2888 138 963 2889 171 963 2890 342 963 2891 232 964 2892 199 964 2893 391 964 2894 2 965 2895 558 965 2896 302 965 2897 522 966 2898 2 966 2899 302 966 2900 342 967 2901 105 967 2902 138 967 2903 336 968 2904 115 968 2905 5 968 2906 168 969 2907 529 969 2908 397 969 2909 2 970 2910 522 970 2911 133 970 2912 487 971 2913 150 971 2914 187 971 2915 387 972 2916 465 972 2917 378 972 2918 171 973 2919 109 973 2920 139 973 2921 187 974 2922 128 974 2923 487 974 2924 205 975 2925 397 975 2926 529 975 2927 105 976 2928 460 976 2929 404 976 2930 133 977 2931 8 977 2932 333 977 2933 404 978 2934 460 978 2935 16 978 2936 171 979 2937 139 979 2938 342 979 2939 563 980 2940 357 980 2941 131 980 2942 362 981 2943 176 981 2944 393 981 2945 391 982 2946 199 982 2947 109 982 2948 187 983 2949 464 983 2950 559 983 2951 205 984 2952 529 984 2953 209 984 2954 559 985 2955 128 985 2956 187 985 2957 128 986 2958 559 986 2959 129 986 2960 361 987 2961 0 987 2962 1 987 2963 361 988 2964 411 988 2965 0 988 2966 361 989 2967 1 989 2968 411 989 2969 0 990 2970 411 990 2971 1 990 2972 188 991 2973 202 991 2974 336 991 2975 202 992 2976 188 992 2977 131 992 2978 422 993 2979 131 993 2980 188 993 2981 131 994 2982 422 994 2983 563 994 2984 212 995 2985 486 995 2986 251 995 2987 129 996 2988 212 996 2989 251 996 2990 23 997 2991 550 997 2992 404 997 2993 304 998 2994 315 998 2995 217 998 2996 304 999 2997 217 999 2998 151 999 2999 373 1000 3000 142 1000 3001 420 1000 3002 486 1001 3003 212 1001 3004 315 1001 3005 243 1002 3006 381 1002 3007 244 1002 3008 9 1003 3009 299 1003 3010 132 1003 3011 549 1004 3012 232 1004 3013 418 1004 3014 61 1005 3015 454 1005 3016 366 1005 3017 205 1006 3018 61 1006 3019 366 1006 3020 556 1007 3021 392 1007 3022 546 1007 3023 10 1008 3024 441 1008 3025 286 1008 3026 286 1009 3027 441 1009 3028 360 1009 3029 392 1010 3030 556 1010 3031 104 1010 3032 425 1011 3033 3 1011 3034 148 1011 3035 294 1012 3036 540 1012 3037 277 1012 3038 472 1013 3039 546 1013 3040 392 1013 3041 141 1014 3042 112 1014 3043 496 1014 3044 415 1015 3045 84 1015 3046 234 1015 3047 23 1016 3048 16 1016 3049 22 1016 3050 528 1017 3051 520 1017 3052 238 1017 3053 528 1018 3054 238 1018 3055 367 1018 3056 372 1019 3057 384 1019 3058 383 1019 3059 183 1020 3060 358 1020 3061 177 1020 3062 428 1021 3063 368 1021 3064 463 1021 3065 295 1022 3066 384 1022 3067 372 1022 3068 230 1023 3069 295 1023 3070 372 1023 3071 133 1024 3072 564 1024 3073 430 1024 3074 360 1025 3075 441 1025 3076 26 1025 3077 212 1026 3078 559 1026 3079 258 1026 3080 133 1027 3081 295 1027 3082 2 1027 3083 383 1028 3084 180 1028 3085 382 1028 3086 541 1029 3087 354 1029 3088 350 1029 3089 541 1030 3090 350 1030 3091 148 1030 3092 148 1031 3093 3 1031 3094 541 1031 3095 541 1032 3096 120 1032 3097 354 1032 3098 431 1033 3099 213 1033 3100 65 1033 3101 210 1034 3102 492 1034 3103 545 1034 3104 328 1035 3105 154 1035 3106 125 1035 3107 125 1036 3108 287 1036 3109 328 1036 3110 42 1037 3111 96 1037 3112 536 1037 3113 299 1038 3114 535 1038 3115 132 1038 3116 86 1039 3117 499 1039 3118 85 1039 3119 498 1040 3120 85 1040 3121 499 1040 3122 85 1041 3123 498 1041 3124 345 1041 3125 482 1042 3126 483 1042 3127 264 1042 3128 13 1043 3129 482 1043 3130 264 1043 3131 108 1044 3132 264 1044 3133 483 1044 3134 264 1045 3135 14 1045 3136 13 1045 3137 14 1046 3138 264 1046 3139 39 1046 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3213 185 1071 3214 345 1071 3215 450 1072 3216 83 1072 3217 327 1072 3218 327 1073 3219 83 1073 3220 481 1073 3221 191 1074 3222 193 1074 3223 265 1074 3224 84 1075 3225 265 1075 3226 193 1075 3227 299 1076 3228 9 1076 3229 239 1076 3230 9 1077 3231 350 1077 3232 239 1077 3233 9 1078 3234 425 1078 3235 350 1078 3236 350 1079 3237 425 1079 3238 148 1079 3239 405 1080 3240 499 1080 3241 86 1080 3242 87 1081 3243 397 1081 3244 174 1081 3245 24 1082 3246 226 1082 3247 293 1082 3248 226 1083 3249 24 1083 3250 456 1083 3251 293 1084 3252 226 1084 3253 140 1084 3254 548 1085 3255 140 1085 3256 226 1085 3257 226 1086 3258 456 1086 3259 563 1086 3260 456 1087 3261 357 1087 3262 563 1087 3263 321 1088 3264 288 1088 3265 478 1088 3266 321 1089 3267 478 1089 3268 169 1089 3269 461 1090 3270 23 1090 3271 190 1090 3272 190 1091 3273 454 1091 3274 461 1091 3275 461 1092 3276 454 1092 3277 23 1092 3278 12 1093 3279 414 1093 3280 234 1093 3281 415 1094 3282 234 1094 3283 414 1094 3284 287 1095 3285 270 1095 3286 328 1095 3287 485 1096 3288 257 1096 3289 500 1096 3290 549 1097 3291 418 1097 3292 544 1097 3293 323 1098 3294 430 1098 3295 564 1098 3296 564 1099 3297 180 1099 3298 323 1099 3299 276 1100 3300 323 1100 3301 180 1100 3302 564 1101 3303 60 1101 3304 180 1101 3305 180 1102 3306 383 1102 3307 276 1102 3308 166 1103 3309 414 1103 3310 503 1103 3311 108 1104 3312 483 1104 3313 28 1104 3314 367 1105 3315 108 1105 3316 28 1105 3317 182 1106 3318 554 1106 3319 544 1106 3320 518 1107 3321 65 1107 3322 58 1107 3323 290 1108 3324 404 1108 3325 550 1108 3326 261 1109 3327 104 1109 3328 556 1109 3329 104 1110 3330 261 1110 3331 308 1110 3332 23 1111 3333 289 1111 3334 222 1111 3335 412 1112 3336 449 1112 3337 378 1112 3338 412 1113 3339 378 1113 3340 474 1113 3341 378 1114 3342 465 1114 3343 474 1114 3344 449 1115 3345 387 1115 3346 378 1115 3347 83 1116 3348 11 1116 3349 481 1116 3350 561 1117 3351 375 1117 3352 394 1117 3353 477 1118 3354 170 1118 3355 90 1118 3356 112 1119 3357 510 1119 3358 496 1119 3359 503 1120 3360 81 1120 3361 166 1120 3362 81 1121 3363 100 1121 3364 166 1121 3365 485 1122 3366 500 1122 3367 338 1122 3368 356 1123 3369 164 1123 3370 170 1123 3371 429 1124 3372 158 1124 3373 386 1124 3374 368 1125 3375 386 1125 3376 158 1125 3377</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="material0" target="#material0">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

File Media/models/14_4v_cordless_drill.jpg

Added
New image

File Media/models/CMakeLists.txt

 add_subdirectory(pioneer2at)
 add_subdirectory(sonyvid30)
 add_subdirectory(rovio)
-add_subdirectory(pr2_gripper)
+add_subdirectory(pr2_gripper_meshes)
 add_subdirectory(pr2)
 add_subdirectory(collada_quad_test)
 add_subdirectory(chair3)
            bowl.dae
            test.dae
            human.dae
+           coke_can.dae
+           cube_20k.stl
+           14_4v_cordless_drill.dae
 )
 
 install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gazebo-${GAZEBO_VERSION}/Media/models)

File Media/models/coke_can.dae

+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Wed Apr 25 01:36:10 2012</created>
+        <modified>Wed Apr 25 01:36:10 2012</modified>
+    </asset>
+    <library_images>
+        <image id="texture0" name="texture0">
+            <init_from>coke_can.jpg</init_from>
+        </image>
+    </library_images>
+    <library_materials>
+        <material id="material0" name="material0">
+            <instance_effect url="#material0-fx"/>
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="material0-fx">
+            <profile_COMMON>
+                <newparam sid="texture0-surface">
+                    <surface type="2D">
+                        <init_from>texture0</init_from>
+                        <format>R8G8B8</format>
+                    </surface>
+                </newparam>
+                <newparam sid="texture0-sampler">
+                    <sampler2D>
+                        <source>texture0-surface</source>
+                        <minfilter>LINEAR</minfilter>
+                        <magfilter>LINEAR</magfilter>
+                    </sampler2D>
+                </newparam>
+                <technique sid="common">
+                    <blinn>
+                        <emission>
+                            <color>0 0 0 1</color>
+                        </emission>
+                        <ambient>
+                            <color>0 0 0 1</color>
+                        </ambient>
+                        <diffuse>
+                            <texture texture="texture0" texcoord="UVSET0"/>
+                        </diffuse>
+                        <specular>
+                            <color>0 0 0 1</color>
+                        </specular>
+                        <shininess>
+                            <float>0.3</float>
+                        </shininess>
+                        <reflective>
+                            <color>0 0 0 1</color>
+                        </reflective>
+                        <reflectivity>
+                            <float>0.5</float>
+                        </reflectivity>
+                        <transparent>
+                            <color>0 0 0 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>0</float>
+                        </transparency>
+                        <index_of_refraction>
+                            <float>0</float>
+                        </index_of_refraction>
+                    </blinn>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="7686">-31.52 -9.367 305.8 -1.366 -31.88 305.7 -1.423 28.04 247.1 15.62 -31.86 238.9 -2.715 -37.66 291.5 10.83 -32.27 189 13.45 -32.58 190.6 16.14 -31.81 281.8 12.51 -25.21 305.9 12.21 -26.42 305.7 25.02 -21.37 253.7 26.24 -18.02 289.3 23.61 -23.21 288.6 -13.19 -25.83 183.4 24.67 -12.71 188.6 28.1 -10.51 194.6 28.47 -9.535 226.8 22.47 -9.708 303.5 22.14 -11.51 304.8 -34.45 -20.62 272.6 -36.23 -15.57 284.6 -33.35 -20.23 190.1 21.99 -0.6271 305.2 -28.41 -18.27 304.9 -27.4 -28.62 289.9 -29.93 -26.94 237.1 10.62 -6.965 182.6 11.78 -19.84 183.3 9.292 15.81 184.3 6.652 19.33 186.5 4.132 27.08 247.8 8.538 25.53 196.8 7.465 25.76 269.9 -12.22 -31.37 304.9 -6.364 27.87 269.5 -5.981 26.28 292 -9.855 27.35 281.3 -0.5206 27.78 279.6 -9.276 20.04 306.1 -20.89 23.59 249.1 -19.12 24.47 192 -16.72 25.35 281.4 -15.75 25.01 190.3 -16.24 25.66 200 -19.75 22.91 290.9 23.75 -22.5 191.4 18.28 -16.63 184.5 -19.63 17.92 187.3 -33.49 11.34 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