first commit

2022-11-15 21:22:52 +08:00
parent b11cdcb859
commit c770c83210
235 changed files with 53695 additions and 0 deletions
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>person_standing</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Marina Kollmitz</name>
+    <email>kollmitz@cs.uni-freiburg.de</email>
+  </author>
+
+  <description>
+    A standing person. Model created with Makehuman (http://www.makehuman.org/)
+  </description>
+</model>
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="person_standing">
+    <link name="link">
+      <inertial>
+        <pose>0 -0.1 0.95 0 0 0</pose>
+        <mass>80.0</mass>
+        <inertia>
+          <ixx>24.88</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>25.73</iyy>
+          <iyz>0</iyz>
+          <izz>2.48</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="bottom">
+        <pose>0 -0.1 0.01 0 0 1.57</pose>
+        <geometry>
+          <box>
+            <size>0.5 0.35 0.02</size>
+          </box>
+        </geometry>
+      </collision>
+      
+      <collision name="person">
+        <pose>0 0 0.02 0.04 0 1.57</pose>
+        <geometry>
+          <mesh>
+            <uri>model://person_standing/meshes/standingv2.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="visual">
+        <pose>0 0 0.02 0.04 0 1.57</pose>
+        <geometry>
+          <mesh>
+            <uri>model://person_standing/meshes/standingv2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>