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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version='1.7'> | ||
| <model name='bin_2024'> | ||
| <static>true</static> | ||
| <link name='base_link'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <inertial> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name='base_link_collision'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://bin_2024/bin.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| <visual name='base_link_visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://bin_2024/bin.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <model> | ||
| <name>Bin 2024</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.0'>bin.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Keith Khadar</name> | ||
| </author> | ||
|
|
||
| <description> | ||
| This is the model for Task 03 Ocean Temperature for RoboSub 2024. | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version='1.7'> | ||
| <model name='buoy_2024'> | ||
| <static>true</static> | ||
| <link name='base_link'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <inertial> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name='base_link_collision'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://buoy_2024/buoy.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| <visual name='base_link_visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://buoy_2024/buoy.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <model> | ||
| <name>Buoy 2024</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.0'>buoy.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Keith Khadar</name> | ||
| </author> | ||
|
|
||
| <description> | ||
| This is the model for Task 02 Hydrothermal Vent for RoboSub 2024. | ||
| </description> | ||
| </model> |
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src/subjugator/simulation/models/buoy_2024/polyform_A0_red.png.001.png
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337 changes: 337 additions & 0 deletions
337
src/subjugator/simulation/models/collection_table_2024/collection_table.dae
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37 changes: 37 additions & 0 deletions
37
src/subjugator/simulation/models/collection_table_2024/collection_table.sdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version='1.7'> | ||
| <model name='collection_table_2024'> | ||
| <static>true</static> | ||
| <link name='base_link'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <inertial> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name='base_link_collision'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://collection_table_2024/collection_table.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| <visual name='base_link_visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://collection_table_2024/collection_table.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
13 changes: 13 additions & 0 deletions
13
src/subjugator/simulation/models/collection_table_2024/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <model> | ||
| <name>Collection Table 2024</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.0'>collection_table.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Keith Khadar</name> | ||
| </author> | ||
|
|
||
| <description> | ||
| This is the model for Task 05 Collect Samples for RoboSub 2024. | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version='1.7'> | ||
| <model name='coral_2024'> | ||
| <static>true</static> | ||
| <link name='base_link'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <inertial> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <collision name='base_link_collision'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://coral_2024/coral.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </collision> | ||
| <visual name='base_link_visual'> | ||
| <pose frame=''>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>file://coral_2024/coral.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <model> | ||
| <name>Coral 2024</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.0'>coral.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Keith Khadar</name> | ||
| </author> | ||
|
|
||
| <description> | ||
| This is the model for Task 05 Collect Samples for RoboSub 2024. | ||
| </description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>dock_2024</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.7">model.sdf</sdf> | ||
| <author> | ||
| <name></name> | ||
| <email></email> | ||
| </author> | ||
| <description></description> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| <?xml version='1.0'?> | ||
| <sdf version='1.7'> | ||
| <model name='dock_2024'> | ||
| <link name='link_0'> | ||
| <inertial> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>0.166667</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.166667</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.166667</izz> | ||
| </inertia> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| </inertial> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <gravity>0</gravity> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <enable_wind>0</enable_wind> | ||
| <visual name='visual'> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1 5 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <lighting>1</lighting> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/Grey</name> | ||
| </script> | ||
| <shader type='pixel'> | ||
| <normal_map>__default__</normal_map> | ||
| </shader> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| <specular>0.01 0.01 0.01 1</specular> | ||
| <emissive>0 0 0 1</emissive> | ||
| </material> | ||
| <transparency>0</transparency> | ||
| <cast_shadows>1</cast_shadows> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <laser_retro>0</laser_retro> | ||
| <max_contacts>10</max_contacts> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>1 4.9 1</size> | ||
| </box> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>1</mu> | ||
| <mu2>1</mu2> | ||
| <fdir1>0 0 0</fdir1> | ||
| <slip1>0</slip1> | ||
| <slip2>0</slip2> | ||
| </ode> | ||
| <torsional> | ||
| <coefficient>1</coefficient> | ||
| <patch_radius>0</patch_radius> | ||
| <surface_radius>0</surface_radius> | ||
| <use_patch_radius>1</use_patch_radius> | ||
| <ode> | ||
| <slip>0</slip> | ||
| </ode> | ||
| </torsional> | ||
| </friction> | ||
| <bounce> | ||
| <restitution_coefficient>0</restitution_coefficient> | ||
| <threshold>1e+06</threshold> | ||
| </bounce> | ||
| <contact> | ||
| <collide_without_contact>0</collide_without_contact> | ||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||
| <collide_bitmask>1</collide_bitmask> | ||
| <ode> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| <max_vel>0.01</max_vel> | ||
| <min_depth>0</min_depth> | ||
| </ode> | ||
| <bullet> | ||
| <split_impulse>1</split_impulse> | ||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||
| <soft_cfm>0</soft_cfm> | ||
| <soft_erp>0.2</soft_erp> | ||
| <kp>1e+13</kp> | ||
| <kd>1</kd> | ||
| </bullet> | ||
| </contact> | ||
| </surface> | ||
| </collision> | ||
| </link> | ||
| <static>1</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
| </model> | ||
| </sdf> |
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