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Commit ce41541a authored by Kenji Brameld's avatar Kenji Brameld
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add everything


Signed-off-by: default avatarijnek <kenjibrameld@gmail.com>
parent 9fe0370e
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with 656 additions and 13 deletions
......@@ -17,19 +17,11 @@ endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(gazebo REQUIRED)
find_package(gazebo_ros_pkgs REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY launch models worlds
DESTINATION share/${PROJECT_NAME}/
)
ament_package()
images/house1.png

178 KiB

#!/usr/bin/env python3
#
# Copyright 2019 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Darby Lim, Ryan Shim
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),
'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),
launch_arguments={'use_sim_time': use_sim_time}.items(),
),
])
\ No newline at end of file
File added
models/apple/materials/textures/apple.png

1.25 KiB

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2020-06-02T16:50:12</created>
<modified>2020-06-02T16:50:12</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="apple_png" name="apple_png">
<init_from>apple.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="apple_png-surface">
<surface type="2D">
<init_from>apple_png</init_from>
</surface>
</newparam>
<newparam sid="apple_png-sampler">
<sampler2D>
<source>apple_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">1 1 1 1</color>
</emission>
<ambient>
<color sid="ambient">1 1 1 1</color>
</ambient>
<diffuse>
<texture texture="apple_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">400</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<triangles material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
<?xml version="1.0"?>
<model>
<name>apple</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<description>
apple
</description>
</model>
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="apple">
<static>true</static>
<link name="link">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://apple/meshes/apple.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://apple/meshes/apple.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
models/banana/materials/textures/banana.png

1.27 KiB

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2020-06-02T16:50:12</created>
<modified>2020-06-02T16:50:12</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="banana_png" name="banana_png">
<init_from>banana.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="banana_png-surface">
<surface type="2D">
<init_from>banana_png</init_from>
</surface>
</newparam>
<newparam sid="banana_png-sampler">
<sampler2D>
<source>banana_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">1 1 1 1</color>
</emission>
<ambient>
<color sid="ambient">1 1 1 1</color>
</ambient>
<diffuse>
<texture texture="banana_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">400</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<triangles material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
<?xml version="1.0"?>
<model>
<name>banana</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<description>
banana
</description>
</model>
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="banana">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<mesh>
<uri>model://banana/meshes/banana.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://banana/meshes/banana.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
File added
models/coffee/materials/textures/coffee.png

3.45 KiB

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2020-06-02T16:50:12</created>
<modified>2020-06-02T16:50:12</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="coffee_png" name="coffee_png">
<init_from>coffee.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="coffee_png-surface">
<surface type="2D">
<init_from>coffee_png</init_from>
</surface>
</newparam>
<newparam sid="coffee_png-sampler">
<sampler2D>
<source>coffee_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">1 1 1 1</color>
</emission>
<ambient>
<color sid="ambient">1 1 1 1</color>
</ambient>
<diffuse>
<texture texture="coffee_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">400</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<triangles material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
<?xml version="1.0"?>
<model>
<name>coffee</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<description>
coffee
</description>
</model>
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="coffee">
<static>true</static>
<link name="link">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://coffee/meshes/coffee.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://coffee/meshes/coffee.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
File added
models/dining_room/materials/textures/dining_room.png

2.19 KiB

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2020-06-02T16:50:12</created>
<modified>2020-06-02T16:50:12</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="dining_room_png" name="dining_room_png">
<init_from>dining_room.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="dining_room_png-surface">
<surface type="2D">
<init_from>dining_room_png</init_from>
</surface>
</newparam>
<newparam sid="dining_room_png-sampler">
<sampler2D>
<source>dining_room_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">1 1 1 1</color>
</emission>
<ambient>
<color sid="ambient">1 1 1 1</color>
</ambient>
<diffuse>
<texture texture="dining_room_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">400</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<triangles material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
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