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Landsat scene #34

Merged
merged 12 commits into from
Jun 7, 2024
Merged

Landsat scene #34

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ea822ee
add landsat
pac48 Jun 4, 2024
3b9963b
add meshes and textures
pac48 Jun 4, 2024
0675ca3
update space texture
pac48 Jun 4, 2024
5754d0a
add more collisions and add rafti
pac48 Jun 4, 2024
e7b60a4
add april_tag
pac48 Jun 4, 2024
80c7e6e
test objective with RAFTI
pac48 Jun 5, 2024
6f2507d
Update src/kinova_gen3_mujoco_config/objectives/sample_april_tag.xml
pac48 Jun 6, 2024
d5bb3cd
Update src/kinova_gen3_mujoco_config/description/picknik_kinova_gen3.…
pac48 Jun 6, 2024
43697c2
use xacro to choose MJCF model
pac48 Jun 7, 2024
a10a362
rename objective
pac48 Jun 7, 2024
b43bd9c
revert deletions of existing scene.xml and objectives
pac48 Jun 7, 2024
45d7ad4
Update src/kinova_gen3_mujoco_config/config/config.yaml
pac48 Jun 7, 2024
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1 change: 1 addition & 0 deletions src/kinova_gen3_mujoco_config/config/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@ hardware:
- external_camera: "true"
- wrist_realsense: "true"
- use_internal_bus_gripper_comm: "false"
- mujoco_model: "description/mujoco/landsat_scene.xml"
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# Sets ROS global params for launch.
# [Optional]
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52 changes: 52 additions & 0 deletions src/kinova_gen3_mujoco_config/description/mujoco/assets/landsat.mtl
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@@ -0,0 +1,52 @@
# Blender 4.1.1 MTL File: 'landsat.blend'
# www.blender.org

newmtl body_ncl1_2.001
Ns 1000.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.697917 0.192708
Ks 1.000000 1.000000 1.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2

newmtl body_ncl1_3.001
Ns 1000.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.697917 0.192708
Ks 1.000000 1.000000 1.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2

newmtl mirror.001
Ns 1000.000000
Ka 0.280000 0.280000 0.280000
Kd 0.078314 0.054861 0.015704
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1

newmtl rest.001
Ns 1000.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.697917 0.192708
Ks 1.000000 1.000000 1.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2

newmtl rest_ncl1_1.001
Ns 1000.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.697917 0.192708
Ks 1.000000 1.000000 1.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2
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