Merged in NRRPLT-7809-add-dlr-experiments (pull request #40)

[NRRPLT-7809] Added Bert Model for DLR Experiments

Approved-by: Stefano Nardo <stefano.nardo@santannapisa.it>

BertModel_new/model.config

+<?xml version="1.0" ?>
+<model xmlns="http://schemas.humanbrainproject.eu/SP10/2017/model_config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/model_config ../model_configuration.xsd">
+	<name>2019-05-09Bert</name>
+	<version>1.0</version>
+	<thumbnail>thumbnail.png</thumbnail>
+	<sdf version="1.5">model.sdf</sdf>
+	<author>
+		<name></name>
+		<email></email>
+	</author>
+	<description></description>
+</model>

BertModel_new/model.sdf

+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="2019-05-09Bert">
+    <pose>0.0 0.0 0.13606448471546173 1.5707963705062866 -0.0 0.0</pose>
+    <link name="RigidGroup8">
+      <pose>-0.019999999553 0.0 0.0125000001863 0.0 -0.0 -0.017453290522098538</pose>
+      <inertial>
+	<mass>1.0</mass>
+	<pose>0 0 0 0 0 0</pose>
+	<inertia>
+	  <ixx>1.0</ixx>
+	  <ixy>0.0</ixy>
+	  <ixz>0.0</ixz>
+	  <iyy>1.0</iyy>
+	  <iyz>0.0</iyz>
+	  <izz>1.0</izz>
+	</inertia>
+      </inertial>
+      <collision name="COL_RigidGroup8_collision">
+	<pose>0.01999695599079132 0.0003489553928375244 -0.012500000186264515 -9.920884114222872e-10 1.4551845839427813e-11 0.01745329238474369</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/collisions/COL_RigidGroup8_collision.dae</uri>
+	    <scale>0.0010000000474974513 0.0010000000474974513 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </collision>
+      <visual name="VIS_RigidGroup8_visual">
+	<pose>0.01999695599079132 0.0003489553928375244 -0.012500000186264515 -9.920884114222872e-10 1.4551845839427813e-11 0.01745329238474369</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/visual/VIS_RigidGroup8_visual.dae</uri>
+	    <scale>0.0010000001639127731 0.0010000000474974513 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </visual>
+    </link>
+    <link name="RigidGroup6">
+      <pose>-0.019999999553 0.0 0.0125000001863 0.0 -0.0 2.4260076507925987</pose>
+      <inertial>
+	<mass>1.0</mass>
+	<pose>0 0 0 0 0 0</pose>
+	<inertia>
+	  <ixx>1.0</ixx>
+	  <ixy>0.0</ixy>
+	  <ixz>0.0</ixz>
+	  <iyy>1.0</iyy>
+	  <iyz>0.0</iyz>
+	  <izz>1.0</izz>
+	</inertia>
+      </inertial>
+      <collision name="COL_RigidGroup6_collision">
+	<pose>4.705399987869896e-06 -5.6006747399806045e-06 -1.0031984132297112e-09 -1.3460327963343843e-08 1.054284304302655e-08 -2.4434611797332764</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/collisions/COL_RigidGroup6_collision.dae</uri>
+	    <scale>0.0010000000474974513 0.0009999999310821295 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </collision>
+      <visual name="VIS_RigidGroup6_visual">
+	<pose>4.705399987869896e-06 -5.6006747399806045e-06 -1.0031984132297112e-09 -1.3460327963343843e-08 1.054284304302655e-08 -2.4434611797332764</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/visual/VIS_RigidGroup6_visual.dae</uri>
+	    <scale>0.0010000000474974513 0.0009999999310821295 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </visual>
+    </link>
+    <link name="RigidGroup7">
+      <pose>-0.0724847212715 -0.0603767645708 0.0125000001863 0.0 -0.0 -2.4609142954098147</pose>
+      <inertial>
+	<mass>1.0</mass>
+	<pose>0 0 0 0 0 0</pose>
+	<inertia>
+	  <ixx>1.0</ixx>
+	  <ixy>0.0</ixy>
+	  <ixz>0.0</ixz>
+	  <iyy>1.0</iyy>
+	  <iyz>0.0</iyz>
+	  <izz>1.0</izz>
+	</inertia>
+      </inertial>
+      <collision name="COL_RigidGroup7_collision">
+	<pose>-4.898909367057058e-08 4.05635137212812e-06 -1.8410344360120234e-09 -1.6302406535828595e-08 7.631084031345381e-08 2.4434609413146973</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/collisions/COL_RigidGroup7_collision.dae</uri>
+	    <scale>0.0010000003967434168 0.0010000003967434168 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </collision>
+      <visual name="VIS_RigidGroup7_visual">
+	<pose>-4.898909367057058e-08 4.05635137212812e-06 -1.8410344360120234e-09 -1.6302406535828595e-08 7.631084031345381e-08 2.4434609413146973</pose>
+	<geometry>
+	  <mesh>
+	    <uri>model://2019-05-09Bert/meshes/visual/VIS_RigidGroup7_visual.dae</uri>
+	    <scale>0.0010000003967434168 0.0010000003967434168 0.0010000000474974513</scale>
+	  </mesh>
+	</geometry>
+      </visual>
+    </link>
+    <joint name="RigidGroup6" type="revolute">
+      <parent>RigidGroup8</parent>
+      <child>RigidGroup6</child>
+      <axis>
+	<xyz>0.0 0.0 1.0</xyz>
+	<limit>
+	  <lower>-1.5707963267948966</lower>
+	  <upper>1.5707963267948966</upper>
+	</limit>
+      </axis>
+    </joint>
+    <joint name="RigidGroup7" type="revolute">
+      <parent>RigidGroup6</parent>
+      <child>RigidGroup7</child>
+      <origin rpy="0.0 0.0 0.6"/>
+      <axis>
+	<xyz>0.0 0.0 1.0</xyz>
+	<limit>
+	  <lower>-1.5707963267948966</lower>
+	  <upper>1.5707963267948966</upper>
+	</limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>