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Blue Chevron File Added
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@elicampos
elicampos committed Jul 27, 2023
1 parent 2a3bd5b commit b147926
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59 changes: 59 additions & 0 deletions SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.82.7</authoring_tool>
</contributor>
<created>2023-07-27T22:53:34</created>
<modified>2023-07-27T22:53:34</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_geometries>
<geometry id="Chevron_Mil-mesh" name="Chevron Mil">
<mesh>
<source id="Chevron_Mil-mesh-positions">
<float_array id="Chevron_Mil-mesh-positions-array" count="36">69.6 104.4 0 0 0 0 69.6 104.4 26.5176 0 0 26.5176 139.1826 0.01739996 0 139.1826 0.01739996 26.5176 121.8 0 0 121.8 0 26.5176 69.6 78.30653 0 69.6 78.30653 26.5176 17.4 0 0 17.4 0 26.5176</float_array>
<technique_common>
<accessor source="#Chevron_Mil-mesh-positions-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="Chevron_Mil-mesh-normals">
<float_array id="Chevron_Mil-mesh-normals-array" count="48">-0.8320504 0.5547003 0 -0.8320504 0.5547003 0 0.8320716 0.5546683 0 0.8320717 0.5546683 0 0.001001 -0.9999996 0 0.001001 -0.9999995 0 -0.8320717 -0.5546681 0 -0.8320717 -0.5546682 0 0.8320717 -0.5546682 0 0.8320717 -0.5546683 0 0 -1 0 1.35274e-7 0 1 0 0 1 -2.23247e-7 0 1 1.35319e-7 0 1 0 0 -1</float_array>
<technique_common>
<accessor source="#Chevron_Mil-mesh-normals-array" count="16" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Chevron_Mil-mesh-vertices">
<input semantic="POSITION" source="#Chevron_Mil-mesh-positions"/>
</vertices>
<triangles count="20">
<input semantic="VERTEX" source="#Chevron_Mil-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Chevron_Mil-mesh-normals" offset="1"/>
<p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 0 2 5 2 5 3 0 3 2 3 6 4 4 4 7 4 7 5 4 5 5 5 8 6 6 6 9 6 9 7 6 7 7 7 10 8 8 8 11 8 11 9 8 9 9 9 1 10 10 10 3 10 3 10 10 10 11 10 11 11 9 11 3 11 3 12 9 12 2 12 2 13 9 13 5 13 5 14 9 14 7 14 10 15 1 15 8 15 8 15 1 15 0 15 8 15 0 15 4 15 4 15 6 15 8 15</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Chevron_Mil" name="Chevron Mil" type="NODE">
<matrix sid="transform">0.002926874 0 0 0 0 0.002919541 0 0.3048 0 0 0.002926358 0 0 0 0 1</matrix>
<instance_geometry url="#Chevron_Mil-mesh" name="Chevron Mil"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
11 changes: 11 additions & 0 deletions SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config
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<?xml version="1.0" ?>
<model>
<name>Chevron</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>
107 changes: 107 additions & 0 deletions SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf
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<?xml version='1.0'?>
<sdf version='1.7'>
<model name='Chevron'>
<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>1</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>
<mesh>
<uri>file://Chevron/chevvie.dae</uri>
<scale>1 1 1</scale>
</mesh>
</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>0.674 0.847 0.902 1</ambient>
<diffuse>0.674 0.847 0.902 1</diffuse>
<specular>1 1 1 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>
<mesh>
<uri>/home/elicampos/Desktop/MIL/chevron/chevvie.dae</uri>
<scale>1 1 1</scale>
</mesh>
</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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