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Updated world file, updated emission of GMan Buoy
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@cbrxyz
cbrxyz committed Apr 20, 2023
1 parent 890931d commit f115299
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Showing 2 changed files with 146 additions and 137 deletions.
4 changes: 2 additions & 2 deletions SubjuGator/simulation/subjugator_gazebo/models/Gman_Poster/G-man_Buoy.dae
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
<color sid="emission">255 255 255 1</color>
</emission>
<diffuse>
<texture texture="_2_makeGrade_badge_png-sampler" texcoord="UVMap"/>
Expand Down Expand Up @@ -112,4 +112,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
</COLLADA>
279 changes: 144 additions & 135 deletions SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2022.world
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Original file line number Diff line number Diff line change
Expand Up @@ -295,112 +295,6 @@
<gravity>0 0 -9.8</gravity>
<atmosphere type='adiabatic'/>
<wind/>
<model name='posters_0'>
<static>1</static>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>-0.845799 0.235134 0.009916 0 -0 0</pose>
<mass>8.45052</mass>
<inertia>
<ixx>0.978466</ixx>
<ixy>0.0388385</ixy>
<ixz>0.0020155</ixz>
<iyy>0.239042</iyy>
<iyz>-0.0222223</iyz>
<izz>1.21612</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://posters/base_link.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://posters/base_link.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>1.89831 -3.10654 0 0 -0 0</pose>
</model>
<model name='posters_1'>
<static>1</static>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>-0.845799 0.235134 0.009916 0 -0 0</pose>
<mass>8.45052</mass>
<inertia>
<ixx>0.978466</ixx>
<ixy>0.0388385</ixy>
<ixz>0.0020155</ixz>
<iyy>0.239042</iyy>
<iyz>-0.0222223</iyz>
<izz>1.21612</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://posters/base_link.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://posters/base_link.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2.81731 -3.85937 0 0 -0 0</pose>
</model>
<model name='posters_2'>
<static>1</static>
<link name='base_link'>
Expand Down Expand Up @@ -599,10 +493,24 @@
<pose>6.25993 -4.43932 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>0</sim_time>
<real_time>0</real_time>
<wall_time>0 694175568</wall_time>
<iterations>0</iterations>
<sim_time>5 340000000</sim_time>
<real_time>5 955675253</real_time>
<wall_time>1682019349 33741613</wall_time>
<iterations>534</iterations>
<model name='Untitled'>
<pose>7.48885 -3.34226 -1.0014 1.58931 -0.036528 -2.34951</pose>
<scale>1 1 1</scale>
<model name='Bootlegger_Buoy'>
<pose>7.48884 -3.34226 -1.0014 1.58931 -0.036528 -2.34951</pose>
<scale>1 1 1</scale>
<link name='base_link'>
<pose>7.48884 -3.34226 -1.0014 1.58931 -0.036528 -2.34951</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
</model>
<model name='octogon'>
<pose>22.9712 -1.43185 0 0 -0 1.5708</pose>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -643,26 +551,6 @@
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='posters_0'>
<pose>8.31009 -2.03187 -1.21848 0 -0 0.785</pose>
<scale>1 1 1</scale>
<link name='base_link'>
<pose>8.31009 -2.03187 -1.21848 0 -0 0.785</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='posters_1'>
<pose>7.74867 -2.53671 -1.24482 0 -0 0.785</pose>
<scale>1 1 1</scale>
<link name='base_link'>
<pose>7.74867 -2.53671 -1.24482 0 -0 0.785</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='posters_2'>
<pose>14 2 -1.09014 0 0 -0.785</pose>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -693,6 +581,16 @@
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='posters_5'>
<pose>6.92302 -3.94022 -1.0415 1.56526 -0.050617 -2.35626</pose>
<scale>1 1 1</scale>
<link name='base_link'>
<pose>6.92302 -3.94022 -1.0415 1.56526 -0.050617 -2.35626</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='start_gate_2022'>
<pose>4.55509 -0.018982 -0.205829 0.009062 0.031542 -1.57001</pose>
<scale>1 1 1</scale>
Expand All @@ -704,10 +602,10 @@
</link>
</model>
<model name='transdec'>
<pose>0 0 0.5 0 -0 0</pose>
<pose>0.054801 -0.077178 0.5 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='ground'>
<pose>0 0 0.5 0 -0 0</pose>
<pose>0.054801 -0.077178 0.5 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
Expand All @@ -734,10 +632,10 @@
</link>
</model>
<model name='water'>
<pose>0.194567 0.198111 0 3.14159 9.3e-05 3.14159</pose>
<pose>-255.682 -259.605 0 3.14159 9.3e-05 3.14159</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>0.194567 0.198111 0 3.14159 9.3e-05 3.14159</pose>
<pose>-255.682 -259.605 0 3.14159 9.3e-05 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
Expand All @@ -764,7 +662,7 @@
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-6.58452 -11.5807 1.70121 -0 0.2418 0.923352</pose>
<pose>-4.3222 8.70844 1.70461 -0 0.219017 -0.728864</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
Expand Down Expand Up @@ -937,5 +835,116 @@
</link>
<pose>-0.957126 1.98002 0 0 -0 0</pose>
</model>
<model name='Untitled'>
<model name='Bootlegger_Buoy'>
<static>1</static>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>-0.845799 0.235134 0.009916 0 -0 0</pose>
<mass>8.45052</mass>
<inertia>
<ixx>0.978466</ixx>
<ixy>0.0388385</ixy>
<ixz>0.0020155</ixz>
<iyy>0.239042</iyy>
<iyz>-0.0222223</iyz>
<izz>1.21612</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://Bootlegger_Poster/Bootlegger_Buoy.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://Bootlegger_Poster/Bootlegger_Buoy.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2e-06 5e-06 0 0 -0 0</pose>
</model>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>-4.24138 -4.56442 0 0 -0 0</pose>
</model>
<model name='posters_5'>
<static>1</static>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>-0.845799 0.235134 0.009916 0 -0 0</pose>
<mass>8.45052</mass>
<inertia>
<ixx>0.978466</ixx>
<ixy>0.0388385</ixy>
<ixz>0.0020155</ixz>
<iyy>0.239042</iyy>
<iyz>-0.0222223</iyz>
<izz>1.21612</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://Gman_Poster/G-man_Buoy.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>file://Gman_Poster/G-man_Buoy.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-2.89545 -5.70392 0 0 -0 0</pose>
</model>
</world>
</sdf>

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