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Commit 174162a6 authored by Manos Angelidis's avatar Manos Angelidis Committed by Axel von Arnim
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Fusion effectuée NRRPLT-7806 (pull request #49) 

[NRRPLT-7806] Added a lamprey swimming world

* [NRRPLT-0000] Added the spinnaker car world

* [NRRPLT-7806] Added a lamprey swimming world

* [NRRPLT-7806] Typo

* [NRRPLT-7806] Fixed wrong dae paths

* [NRRPLT-7806] Added the lamprey robot model

Approuvé par : Stefano Nardo
Approuvé par : Axel von Arnim
parent abf20d82
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lamprey_model/lamprey_swimming_world.sdf 0 → 100644
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<include>
<uri>model://sun</uri>
</include>
<model name="ground">
<static>1</static>
<link name="link">
<visual name="visual">
<cast_shadows>0</cast_shadows>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://empty_world/meshes/emptyworldground.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0.016 0 -0 0</pose>
<surface>
<contact>
<collide_bitmask>0x01</collide_bitmask>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
<geometry>
<box>
<size>7.0 1.0 0.016</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<model name='nrppanel'>
<static>true</static>
<pose>0.5 1 -1.15 0 0 0</pose>
<link name='nrp_panelbody'>
<visual name='nrppanel'>
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://nrp_panel/meshes/nrppanel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<model name="ground_plane_left">
<pose>-3.5 0 0.4 1.5708 0 1.5708</pose>
<static>true</static>
<link name="link">
<collision name="collisionground_plane_left">
<geometry>
<box>
<size>1 0.8 0.016</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x10</collide_bitmask>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<!-- <visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>1 0.8 0.016</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual> -->
</link>
</model>
<model name="ground_plane_right">
<pose>3.5 0 0.4 1.5708 0 1.5708</pose>
<static>true</static>
<link name="link">
<collision name="collisionground_plane_right">
<geometry>
<box>
<size>1 0.8 0.016</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x10</collide_bitmask>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<!-- <visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>1 0.8 0.016</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual> -->
</link>
</model>
<model name="ground_plane_front">
<pose>0 -0.5 0.4 1.5708 0 0 </pose>
<static>true</static>
<link name="link">
<collision name="collisionground_plane_front">
<geometry>
<box>
<size>7 0.8 0.016</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x10</collide_bitmask>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<!-- <visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>7 0.8 0.016</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual> -->
</link>
</model>
<model name="ground_plane_back">
<pose>0 0.5 0.4 -1.5708 0 3.14159</pose>
<static>true</static>
<link name="link">
<collision name="collisionground_plane_back">
<geometry>
<box>
<size>7 0.8 0.016</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x10</collide_bitmask>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<!-- <visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>7 0.8 0.016</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual> -->
</link>
</model>
<model name="whitepanelwall_0">
<static>1</static>
<link name="whitepanelwall0">
<visual name="whitepanelwall0">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>0 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_1">
<static>1</static>
<link name="whitepanelwall1">
<visual name="whitepanelwall1">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>1 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_2">
<static>1</static>
<link name="whitepanelwall2">
<visual name="whitepanelwall2">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-1 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_3">
<static>1</static>
<link name="whitepanelwall3">
<visual name="whitepanelwall3">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-2 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_4">
<static>1</static>
<link name="whitepanelwall4">
<visual name="whitepanelwall4">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>2 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_5">
<static>1</static>
<link name="whitepanelwall5">
<visual name="whitepanelwall5">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-3 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_6">
<static>1</static>
<link name="whitepanelwall6">
<visual name="whitepanelwall6">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>3 0.615 -0.3 0 -0 3.14159</pose>
</model>
<model name="whitepanelwall_7">
<static>1</static>
<link name="whitepanelwall7">
<visual name="whitepanelwall7">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>0 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_8">
<static>1</static>
<link name="whitepanelwall8">
<visual name="whitepanelwall8">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>1 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_9">
<static>1</static>
<link name="whitepanelwall9">
<visual name="whitepanelwall9">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-1 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_10">
<static>1</static>
<link name="whitepanelwall10">
<visual name="whitepanelwall10">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-2 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall11">
<static>1</static>
<link name="whitepanelwall11">
<visual name="whitepanelwall11">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>2 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_12">
<static>1</static>
<link name="whitepanelwall12">
<visual name="whitepanelwall12">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-3 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_13">
<static>1</static>
<link name="whitepanelwall13">
<visual name="whitepanelwall13">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>3 -0.615 -0.3 0 -0 0</pose>
</model>
<model name="whitepanelwall_14">
<static>1</static>
<link name="whitepanelwall14">
<visual name="whitepanelwall14">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>3.59 0 -0.3 0 0 1.5708</pose>
</model>
<model name="whitepanelwall_15">
<static>1</static>
<link name="whitepanelwall15">
<visual name="whitepanelwall15">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<pose>0 0 0 0 0 0</pose>
</link>
<pose>-3.59 0 -0.3 0 0 -1.5708</pose>
</model>
<model name="groundmetalgrid_0">
<static>1</static>
<link name="groundmetalgrid::body">
<visual name="highpylon">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://groundmetalgrid/meshes/groundmetalgrid.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0 -0.0 0.000 0 -0 0</pose>
</model>
<model name="metallicwallangle_0">
<static>1</static>
<link name="metallicwallangle0::body">
<visual name="metallicwallangle3">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://metallicwallangle/meshes/metallicwallangle.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<pose>3.58 0.59 -0.25 0 -0 0</pose>
</model>
<model name="metallicwallangle_1">
<static>1</static>
<link name="metallicwallangle1::body">
<visual name="metallicwallangle3">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://metallicwallangle/meshes/metallicwallangle.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<pose>-3.58 -0.59 -0.25 0 -0 0</pose>
</model>
<model name="metallicwallangle_2">
<static>1</static>
<link name="metallicwallangle2::body">
<visual name="metallicwallangle3">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://metallicwallangle/meshes/metallicwallangle.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<pose>3.58 -0.59 -0.25 0 -0 0</pose>
</model>
<model name="metallicwallangle_3">
<static>1</static>
<link name="metallicwallangle3::body">
<visual name="metallicwallangle3">
<cast_shadows>1</cast_shadows>
<geometry>
<mesh>
<uri>model://metallicwallangle/meshes/metallicwallangle.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<pose>-3.58 0.59 -0.25 0 -0 0</pose>
</model>
<model name="water">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="link">
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>7 1.4 1.1</size>
</box>
</geometry>
<material>
<ambient> 0.266 0.360 0.374 0.5</ambient>
<diffuse> 0.266 0.360 0.374 0.5</diffuse>
<specular>0.266 0.360 0.374 0.5</specular>
<emissive>0.266 0.360 0.374 0.5</emissive>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lamprey_model">
<static>false</static>
<self_collide>0</self_collide>
<pose>2.0 0.0 0.63 0.0 0.0 -1.57</pose>
<link name="body_0">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_0_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_0_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_1">
<pose>0.0 0.095 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_1_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_1_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_2">
<pose>0.0 0.19 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_2_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_2_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_3">
<pose>0.0 0.285 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_3_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_3_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_4">
<pose>0.0 0.38 0.0 0.0 0.0 0.0</pose>
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<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<joint name="joint_8" type="revolute">
<parent>body_7</parent>
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<joint name="joint_9" type="revolute">
<parent>body_8</parent>
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<lower>-0.1</lower>
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<dynamics>
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<plugin name="FluidPlugin" filename="liblamprey_control.so"></plugin>
</model>
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<fluidConfiguration>
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<fluid>
<viscosity>0.1</viscosity>
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<fluidBlock>
<denseMode>0</denseMode>
<start>-3.485 -0.485 0.04</start>
<end>3.485 0.485 0.6</end>
</fluidBlock>
<fluidModels>
<particleFile>../models/particle_grid.bgeo</particleFile>
<translation>0.0 0.0 0.0 </translation>
<scale>1.0 1.0 1.0 </scale>
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</plugin>
</world>
</sdf>
lamprey_model/meshes/box_smalldae.dae 0 → 100644
+ 349
− 0
View file @ 174162a6
<?xml version="1.0" encoding="utf-8"?>
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<created>2020-02-20T18:48:02</created>
<modified>2020-02-20T18:48:02</modified>
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<camera id="Camera_002-camera" name="Camera.002">
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<sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
</technique>
</extra>
</light>
<light id="Lamp_002-light" name="Lamp.002">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<type sid="type" type="int">0</type>
<flag sid="flag" type="int">0</flag>
<mode sid="mode" type="int">8192</mode>
<gamma sid="blender_gamma" type="float">1</gamma>
<red sid="red" type="float">1</red>
<green sid="green" type="float">1</green>
<blue sid="blue" type="float">1</blue>
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
<energy sid="blender_energy" type="float">1</energy>
<dist sid="blender_dist" type="float">29.99998</dist>
<spotsize sid="spotsize" type="float">75</spotsize>
<spotblend sid="spotblend" type="float">0.15</spotblend>
<halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
<att1 sid="att1" type="float">0</att1>
<att2 sid="att2" type="float">1</att2>
<falloff_type sid="falloff_type" type="int">2</falloff_type>
<clipsta sid="clipsta" type="float">1.000799</clipsta>
<clipend sid="clipend" type="float">30.002</clipend>
<bias sid="bias" type="float">1</bias>
<soft sid="soft" type="float">3</soft>
<compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
<bufsize sid="bufsize" type="int">2880</bufsize>
<samp sid="samp" type="int">3</samp>
<buffers sid="buffers" type="int">1</buffers>
<filtertype sid="filtertype" type="int">0</filtertype>
<bufflag sid="bufflag" type="int">0</bufflag>
<buftype sid="buftype" type="int">2</buftype>
<ray_samp sid="ray_samp" type="int">1</ray_samp>
<ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
<ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
<ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
<area_shape sid="area_shape" type="int">1</area_shape>
<area_size sid="area_size" type="float">0.1</area_size>
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
<area_sizez sid="area_sizez" type="float">1</area_sizez>
<adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
<ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
<shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
<sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
<skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
<horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
<spread sid="spread" type="float">1</spread>
<sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
<sun_size sid="sun_size" type="float">1</sun_size>
<backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
<sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
<atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
<atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
<atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
<skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
<sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
<sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
</technique>
</extra>
</light>
</library_lights>
<library_images/>
<library_geometries>
<geometry id="Cube_006-mesh" name="Cube.006">
<mesh>
<source id="Cube_006-mesh-positions">
<float_array id="Cube_006-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
<technique_common>
<accessor source="#Cube_006-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_006-mesh-normals">
<float_array id="Cube_006-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>
<technique_common>
<accessor source="#Cube_006-mesh-normals-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube_006-mesh-vertices">
<input semantic="POSITION" source="#Cube_006-mesh-positions"/>
</vertices>
<triangles count="12">
<input semantic="VERTEX" source="#Cube_006-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_006-mesh-normals" offset="1"/>
<p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
<node id="Lamp_001" name="Lamp_001" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp_001-light"/>
</node>
<node id="Camera_002" name="Camera_002" type="NODE">
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_002-camera"/>
</node>
<node id="Lamp_002" name="Lamp_002" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp_002-light"/>
</node>
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.019 0 0 0 0 0.038 0 0 0 0 0.028 0 0 0 0 1</matrix>
<instance_geometry url="#Cube_006-mesh" name="Cube"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
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+ 199
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<?xml version="1.0" ?>
<model>
<name>lamprey_model</name>
<version>DUMMY</version> <!-- 0.1 -->
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Manos Angelidis</name>
<email>angelidis@fortiss.org</email>
</author>
<description/>
</model>
\ No newline at end of file
lamprey_model/model.sdf 0 → 100644
+ 532
− 0
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="lamprey_model">
<static>false</static>
<self_collide>0</self_collide>
<pose>2.0 0.0 0.63 0.0 0.0 -1.57</pose>
<link name="body_0">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_0_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_0_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_1">
<pose>0.0 0.095 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_1_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_1_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_2">
<pose>0.0 0.19 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_2_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_2_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_3">
<pose>0.0 0.285 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
<ixy>0</ixy>
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<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_3_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="body_3_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
<ambient>0.234 0.211 0.105 1.0</ambient>
<diffuse>0.234 0.211 0.105 1.0</diffuse>
<specular>0.234 0.211 0.105 1.0</specular>
<emissive>0.234 0.211 0.105 1.0</emissive>
</material>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_4">
<pose>0.0 0.38 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
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<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_4_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
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</geometry>
</collision>
<visual name="body_4_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
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<geometry>
<mesh>
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<material/>
</visual>
</link>
<link name="body_5">
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<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
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<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_5_collision">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
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</collision>
<visual name="body_5_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
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<geometry>
<mesh>
<uri>model://lamprey_model/meshes/link1.dae</uri>
</mesh>
</geometry>
<material/>
</visual>
</link>
<link name="body_6">
<pose>0.0 0.57 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.038 -0.014 0.0 0.0 0.0</pose>
<mass>0.55</mass>
<inertia>
<ixx>0.000222864</ixx>
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<iyy>0.000102659</iyy>
<iyz>0</iyz>
<izz>0.000160531</izz>
</inertia>
</inertial>
<collision name="body_6_collision">
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<geometry>
<mesh>
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</mesh>
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</collision>
<visual name="body_6_visual">
<pose>0.0 0 0.0 0.0 0.0 0.0</pose>
<material>
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<mesh>
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<link name="body_7">
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<inertial>
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<inertia>
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</inertial>
<collision name="body_7_collision">
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<geometry>
<mesh>
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<visual name="body_7_visual">
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<material>
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<geometry>
<mesh>
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</link>
<link name="body_8">
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<inertial>
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<inertia>
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</inertial>
<collision name="body_8_collision">
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<geometry>
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<visual name="body_8_visual">
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<material>
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</link>
<link name="body_9">
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<inertial>
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<collision name="body_9_collision">
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<visual name="body_9_visual">
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<material>
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</link>
<joint name="joint_1" type="revolute">
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<child>body_1</child>
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<axis>
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<limit>
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<velocity>1.0</velocity>
</limit>
</axis>
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<joint name="joint_2" type="revolute">
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<velocity>10.0</velocity>
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<parent>body_2</parent>
<child>body_3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>10.0</velocity>
</limit>
</axis>
</joint>
<joint name="joint_4" type="revolute">
<parent>body_3</parent>
<child>body_4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="joint_5" type="revolute">
<parent>body_4</parent>
<child>body_5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="joint_6" type="revolute">
<parent>body_5</parent>
<child>body_6</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="joint_7" type="revolute">
<parent>body_6</parent>
<child>body_7</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="joint_8" type="revolute">
<parent>body_7</parent>
<child>body_8</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.13446</lower>
<upper>1.13446</upper>
<effort>100</effort>
<velocity>0.1</velocity>
</limit>
</axis>
</joint>
<joint name="joint_9" type="revolute">
<parent>body_8</parent>
<child>body_9</child>
<pose>0.0 -0.0475 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.1</lower>
<upper>0.1</upper>
<effort>100</effort>
<velocity>0.01</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0.1</spring_stiffness>
</dynamics>
</axis>
</joint>
<plugin name="FluidPlugin" filename="liblamprey_control.so"></plugin>
</model>
</sdf>
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