Gazebo(3): ModelStructedAndRequirement

the way of loading models into simulation
1\ programmatically (code)
2\ the GUI

This document describes 
	Gazebo's model directory struct,
	the necessary files within a model directory.

In Gazebo, models define 
1\ a physics entity(object) with dynamic, kinematic, and visual properties (performance).
2\ have one or more plugins, which effect the model's behavior.

A database to store and maintain models available for use within simulation.

The database:
	git clone https://github.com/osrf/gazebo_models

Model Database Structure

A root of a model database
	1. contains one directory for each model,
		1.1 has a 'model.config' file 
			that contains meta data about the model.
		1.2 contains the SDF for the model
		1.3 contains any materials, meshes and plugins.
	2. a 'database.config' which stores information about the model datebase.

as follows (only one model called 'model_1'):
	Database:
		database.config
		model_1: 		a directory for model_1
			model.config
			model.sdf
			model.sdf.erb
			meshes:
			materials
			plugins: A directory for plugin source and header files.
		

Database:
	database.config
		Meta data about the database. This populated automatically from CMakeLists.txt.
		This file contains license information for 
			the models, 
			a name for database,
			a list of all the valid models.
		A directory full of models on your local computer does not need a 'database.config' file

	model_1: 		a directory for model_1
		model.config: Meta data about model_1 (must)
		model.sdf: 	SDF description of the model
		model.sdf.erb:
		
<-------------optional directory below------------>
		meshes:	A directory for all COLLADA (collada) and/or STL files.
		materials: A directory which should only contain the textures and scripts subdirectories.
				textures: A directory for image files(jpg, png, etc)	
				scripts: A directory for OGRE material scripts.
		plugins: A directory for plugin source and header files.

Model config

<?xml version="1.0"?>
<model>
    <!-- required:
			<name>
			<version> not the version of sdf that model uses.
			<sdf> a sdf or urdf file
				version attribute indicates what sdf version the file use, and is not required for URDFs
			
			<author> and <name> and <email>

			<description>
				
	-->
	<name>My Model name</name>
    <version>1.0</version>
    <sdf version='1.5'>model.sdf</sdf>
    
    <author>
    	<name>My name</name>
        <email>name@email.address</email>
    </author>
    
    <!--
		what the model is(e.g., robot, table, cup)
		what the plugins do (functionality of the model)
	-->
    <description>
    	A description of the model
    </description>
    
    <!--
	<depend> optional
        <model>
            <uri>
            <version>
    -->
</model>

the SDF website

http://sdformat.org/

Make your model SDF file

<?xml version='1.0'?>
<sdf version='1.4'>
	<model name="my_model">
    	<pose>0 0 0.5 0 0 0</pose>
        <static>true</static>
        <link name="link">
        	<inertial>
            	<mass>1.0</mass>
                <inertia>
                	<ixx>0.083</ixx>
                   	<ixy>0.0</ixy>
                    <ixz>0.0</ixz>
                    <iyy>0.083</iyy>
                    <iyz>0.0</iyz>
                    <izz>0.083</izz>
                </inertia>
            </inertial>
            <collision name="collision">
            	<geometry>
                	<box>
                    	<size>1 1 1</size>
                    </box>
                </geometry>
            </collision>
        	<visual name="visual">
            	<geometry>
                	<box>
                    	<size>1 1 1</size>
                    </box>
                </geometry>
            </visual>
        </link>
    
    </model>
</sdf>