add new asset to gazebo scene
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dd7616609d
commit
a3397f6686
13 changed files with 179 additions and 1 deletions
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@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
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# find_package(<dependency> REQUIRED)
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install(DIRECTORY launch urdf config world
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install(DIRECTORY launch urdf config world assets
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DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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@ -26,5 +26,7 @@ if(BUILD_TESTING)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
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ament_package()
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101
assets/shildik/meshes/shildik_sh.dae
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101
assets/shildik/meshes/shildik_sh.dae
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@ -0,0 +1,101 @@
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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 4.1.1 commit date:2024-04-15, commit time:15:11, hash:e1743a0317bc</authoring_tool>
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</contributor>
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<created>2025-02-12T10:55:51</created>
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<modified>2025-02-12T10:55:51</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="nasosnaya_ustanovka_svg-effect">
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<profile_COMMON>
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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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<color sid="diffuse">0.01 0.01 0.01 1</color>
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</diffuse>
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<index_of_refraction>
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<float sid="ior">1.5</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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<library_materials>
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<material id="nasosnaya_ustanovka_svg-material" name="nasosnaya_ustanovka.svg">
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<instance_effect url="#nasosnaya_ustanovka_svg-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="shildik-mesh" name="shildik">
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<mesh>
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<source id="shildik-mesh-positions">
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<float_array id="shildik-mesh-positions-array" count="54">-0.02999997 -0.01999998 0 -0.02999997 -0.01999998 5e-4 -0.02999997 0.01999998 0 -0.02999997 0.01999998 5e-4 0.02999997 -0.01999998 0 0.02999997 -0.01999998 5e-4 0.02999997 0.01999998 0 0.02999997 0.01999998 5e-4 -0.02999997 0 0 -0.02999997 0 5e-4 0 0.01999998 0 0 0.01999998 5e-4 0.02999997 0 0 0.02999997 0 5e-4 0 -0.01999998 0 0 -0.01999998 5e-4 0 0 5e-4 0 0 0</float_array>
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<technique_common>
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<accessor source="#shildik-mesh-positions-array" count="18" 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="shildik-mesh-normals">
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<float_array id="shildik-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
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<technique_common>
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<accessor source="#shildik-mesh-normals-array" count="6" 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="shildik-mesh-map-0">
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<float_array id="shildik-mesh-map-0-array" count="192">0.4997459 0.9128418 0.001953125 0.9003906 0.4997459 0.9003906 0.7485352 0.9455567 0.001953125 0.9331055 0.7485352 0.9331055 0.4997359 0.9167481 0.9975586 0.9291992 0.4997359 0.9291992 0.001953125 0.9821777 0.7485352 0.9946289 0.001953125 0.9946289 0.001953125 0.8964844 0.2495018 0.6816406 0.2495018 0.8964844 0.001953065 0.3339793 0.5 0.001953065 0.5 0.3339793 0.5 0.3339793 0.9980469 0.001953125 0.9980468 0.3339793 0.5 0.6660156 0.9980468 0.3339793 0.9980469 0.6660156 0.001953125 0.6660156 0.5 0.3339793 0.5 0.6660156 0.2495018 0.8964844 0.4970703 0.6816406 0.4970703 0.8964844 0.7485352 0.8964844 0.9960938 0.6816406 0.9960938 0.8964844 0.5009766 0.8964844 0.7485352 0.6816406 0.7485352 0.8964844 0.001953125 0.9494629 0.7485352 0.9619141 0.001953125 0.9619141 0.001953125 0.9167481 0.4997359 0.9291992 0.001953125 0.9291992 0.7485352 0.9782715 0.001953125 0.9658203 0.7485352 0.9658203 0.9975586 0.9128418 0.4997459 0.9003906 0.9975586 0.9003906 0.4997459 0.9128418 0.001953125 0.9128418 0.001953125 0.9003906 0.7485352 0.9455567 0.001953125 0.9455567 0.001953125 0.9331055 0.4997359 0.9167481 0.9975586 0.9167481 0.9975586 0.9291992 0.001953125 0.9821777 0.7485352 0.9821777 0.7485352 0.9946289 0.001953125 0.8964844 0.001953125 0.6816406 0.2495018 0.6816406 0.001953065 0.3339793 0.001953125 0.001953125 0.5 0.001953065 0.5 0.3339793 0.5 0.001953065 0.9980469 0.001953125 0.5 0.6660156 0.5 0.3339793 0.9980468 0.3339793 0.001953125 0.6660156 0.001953065 0.3339793 0.5 0.3339793 0.2495018 0.8964844 0.2495018 0.6816406 0.4970703 0.6816406 0.7485352 0.8964844 0.7485352 0.6816406 0.9960938 0.6816406 0.5009766 0.8964844 0.5009766 0.6816406 0.7485352 0.6816406 0.001953125 0.9494629 0.7485352 0.9494629 0.7485352 0.9619141 0.001953125 0.9167481 0.4997359 0.9167481 0.4997359 0.9291992 0.7485352 0.9782715 0.001953125 0.9782715 0.001953125 0.9658203 0.9975586 0.9128418 0.4997459 0.9128418 0.4997459 0.9003906</float_array>
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<technique_common>
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<accessor source="#shildik-mesh-map-0-array" count="96" 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="shildik-mesh-vertices">
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<input semantic="POSITION" source="#shildik-mesh-positions"/>
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</vertices>
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<triangles material="nasosnaya_ustanovka_svg-material" count="32">
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<input semantic="VERTEX" source="#shildik-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#shildik-mesh-normals" offset="1"/>
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<input semantic="TEXCOORD" source="#shildik-mesh-map-0" offset="2" set="0"/>
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<p>9 0 0 2 0 1 8 0 2 11 1 3 6 1 4 10 1 5 13 2 6 4 2 7 12 2 8 15 3 9 0 3 10 14 3 11 12 4 12 14 4 13 17 4 14 9 5 15 15 5 16 16 5 17 16 5 18 5 5 19 13 5 20 11 5 21 13 5 22 7 5 23 3 5 24 16 5 25 11 5 26 17 4 27 0 4 28 8 4 29 10 4 30 8 4 31 2 4 32 6 4 33 17 4 34 10 4 35 5 3 36 14 3 37 4 3 38 7 2 39 12 2 40 6 2 41 3 1 42 10 1 43 2 1 44 1 0 45 8 0 46 0 0 47 9 0 48 3 0 49 2 0 50 11 1 51 7 1 52 6 1 53 13 2 54 5 2 55 4 2 56 15 3 57 1 3 58 0 3 59 12 4 60 4 4 61 14 4 62 9 5 63 1 5 64 15 5 65 16 5 66 15 5 67 5 5 68 11 5 69 16 5 70 13 5 71 3 5 72 9 5 73 16 5 74 17 4 75 14 4 76 0 4 77 10 4 78 17 4 79 8 4 80 6 4 81 12 4 82 17 4 83 5 3 84 15 3 85 14 3 86 7 2 87 13 2 88 12 2 89 3 1 90 11 1 91 10 1 92 1 0 93 9 0 94 8 0 95</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_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="shildik_sh" name="shildik_sh" type="NODE">
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<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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<instance_geometry url="#shildik-mesh" name="shildik_sh">
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<bind_material>
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<technique_common>
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<instance_material symbol="nasosnaya_ustanovka_svg-material" target="#nasosnaya_ustanovka_svg-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>
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16
assets/shildik/model.config
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assets/shildik/model.config
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@ -0,0 +1,16 @@
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<?xml version="1.0"?>
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<model>
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<name>shildik</name>
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<version>0.1</version>
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<sdf version='1.10'>model.sdf</sdf>
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<author>
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<name>Bill Finger</name>
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<email>ur.narmak@gmail.com</email>
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</author>
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<description>
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Empty
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</description>
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</model>
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48
assets/shildik/model.sdf
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48
assets/shildik/model.sdf
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@ -0,0 +1,48 @@
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<?xml version="1.0"?>
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<sdf version="1.10">
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<model name="shildik">
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<link name="shildik_link">
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<visual name="shildik_visual">
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<geometry>
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<mesh>
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<uri>model://shildik/meshes/shildik_sh.dae</uri>
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</mesh>
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</geometry>
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<material>
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<diffuse>1 1 1 1</diffuse>
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<ambient>1 1 1 1</ambient>
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<specular>0.5 0.5 0.5 1</specular>
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<emissive>0 0 0 1</emissive>
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<texture>
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<diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map>
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</texture>
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<pbr>
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<metal>
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<albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map>
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<normal_map>model://shildik/textures/shildik_sh_n.png</normal_map>
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<roughness_map>model://shildik/textures/shildik_sh_r.png</roughness_map>
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<metalness_map>model://shildik/textures/shildik_sh_m.png</metalness_map>
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<ambient_occlusion_map>model://shildik/textures/shildik_sh_o.png</ambient_occlusion_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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<collision name="shildik_collision">
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<geometry>
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<box>
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<size>0.06 0.04 0.001</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<bounce />
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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</link>
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</model>
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</sdf>
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BIN
assets/shildik/textures/shildik_sh.png
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BIN
assets/shildik/textures/shildik_sh.png
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After Width: | Height: | Size: 137 KiB |
BIN
assets/shildik/textures/shildik_sh_d.png
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BIN
assets/shildik/textures/shildik_sh_d.png
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After Width: | Height: | Size: 979 KiB |
BIN
assets/shildik/textures/shildik_sh_m.png
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BIN
assets/shildik/textures/shildik_sh_m.png
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Binary file not shown.
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After Width: | Height: | Size: 349 KiB |
BIN
assets/shildik/textures/shildik_sh_n.png
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BIN
assets/shildik/textures/shildik_sh_n.png
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Binary file not shown.
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After Width: | Height: | Size: 184 KiB |
BIN
assets/shildik/textures/shildik_sh_o.png
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BIN
assets/shildik/textures/shildik_sh_o.png
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Binary file not shown.
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After Width: | Height: | Size: 18 KiB |
BIN
assets/shildik/textures/shildik_sh_r.png
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BIN
assets/shildik/textures/shildik_sh_r.png
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Binary file not shown.
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After Width: | Height: | Size: 221 KiB |
3
hooks/rbs_mill_assist.dsv.in
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3
hooks/rbs_mill_assist.dsv.in
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@ -0,0 +1,3 @@
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prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/world
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prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/assets
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prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/@PROJECT_NAME@/
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3
hooks/rbs_mill_assist.sh.in
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3
hooks/rbs_mill_assist.sh.in
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@ -0,0 +1,3 @@
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ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/world"
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ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/assets"
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ament_prepend_unique_value GZ_SIM_PLUGIN_PATH "$AMENT_CURRENT_PREFIX/lib/@PROJECT_NAME@"
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@ -41,6 +41,11 @@
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<include>
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<pose>-0.3 0.0 0 0 0 0</pose>
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<uri>model://shildik</uri>
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</include>
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<!-- <model name="ground_plane"> -->
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<!-- <static>true</static> -->
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