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More tests
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‎CustomRobots/roomba_robot/models/cama/meshes/model.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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
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</contributor>
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<created>2025-02-18T09:46:44</created>
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<modified>2025-02-18T09:46:44</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_images/>
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<library_geometries>
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<geometry id="Cube_001-mesh" name="Cube.001">
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<mesh>
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<source id="Cube_001-mesh-positions">
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<float_array id="Cube_001-mesh-positions-array" count="48">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1 0.7142857 -1 1 0.7142857 -1 1.5 0.7142857 1 1 0.7142857 1 1.5 1 -1 1 1 -1 1.5 1 1 1 1 1 1.5</float_array>
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<technique_common>
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<accessor source="#Cube_001-mesh-positions-array" count="16" 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="Cube_001-mesh-normals">
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<float_array id="Cube_001-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="#Cube_001-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="Cube_001-mesh-map-0">
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<float_array id="Cube_001-mesh-map-0-array" count="144">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
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<technique_common>
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<accessor source="#Cube_001-mesh-map-0-array" count="72" 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="Cube_001-mesh-vertices">
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<input semantic="POSITION" source="#Cube_001-mesh-positions"/>
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</vertices>
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<triangles count="24">
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<input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
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<input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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<p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 9 0 18 10 0 19 8 0 20 11 1 21 14 1 22 10 1 23 15 2 24 12 2 25 14 2 26 13 3 27 8 3 28 12 3 29 14 4 30 8 4 31 10 4 32 11 5 33 13 5 34 15 5 35 1 0 36 3 0 37 2 0 38 3 1 39 7 1 40 6 1 41 7 2 42 5 2 43 4 2 44 5 3 45 1 3 46 0 3 47 6 4 48 4 4 49 0 4 50 3 5 51 1 5 52 5 5 53 9 0 54 11 0 55 10 0 56 11 1 57 15 1 58 14 1 59 15 2 60 13 2 61 12 2 62 13 3 63 9 3 64 8 3 65 14 4 66 12 4 67 8 4 68 11 5 69 9 5 70 13 5 71</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="cama" name="cama" type="NODE">
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<matrix sid="transform">1.05 0 0 0 0 0.75 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
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<instance_geometry url="#Cube_001-mesh" name="cama"/>
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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/roomba_robot/models/cama/model.config‎

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<?xml version="1.0" ?>
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<model>
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<name>cama</name>
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<version>1.0</version>
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<sdf version="1.8">model.sdf</sdf>
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<author>
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<name>Generated by blender SDF tools</name>
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</author>
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</model>

‎CustomRobots/roomba_robot/models/cama/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.8">
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<model name="cama">
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<static>true</static>
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<link name="cama_link">
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<visual name="cama_visual">
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<geometry>
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<mesh>
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<uri>meshes/model.dae</uri>
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<submesh>
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<name>cama</name>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<collision name="cama_collision">
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<geometry>
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<mesh>
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<uri>meshes/model.dae</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x01</collide_bitmask>
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</contact>
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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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