first commit

2022-11-15 21:22:52 +08:00
parent b11cdcb859
commit c770c83210
235 changed files with 53695 additions and 0 deletions
@@ -0,0 +1,15 @@
+material Beer/Diffuse
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture beer.png
+        filtering anistropic
+        max_anisotropy 16
+      }
+    }
+  }
+}
@@ -0,0 +1,44 @@
+<?xml version='1.0'?>
+<sdf version='1.4'>
+  <model name="beer">
+    <link name='link'>
+      <pose>0 0 0.115 0 0 0</pose>
+      <inertial>
+        <mass>0.390</mass>
+        <inertia>
+          <ixx>0.00058</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00058</iyy>
+          <iyz>0</iyz>
+          <izz>0.00019</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.055000</radius>
+            <length>0.230000</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name='visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.055000</radius>
+            <length>0.230000</length>
+          </cylinder>
+        </geometry>
+
+        <material>
+          <script>
+            <uri>model://beer/materials/scripts</uri>
+            <uri>model://beer/materials/textures</uri>
+            <name>Beer/Diffuse</name>
+          </script>
+        </material>
+      </visual>
+    </link>     
+  </model>
+</sdf>
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Beer</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Maurice Fallon</name>
+  </author>
+
+  <description>
+    Beer
+  </description>
+</model>
@@ -0,0 +1,58 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="beer">
+    <link name="link">
+      <pose>0 0 0.115 0 0 1.57</pose>
+      <inertial>
+        <mass>0.190</mass>
+        <inertia>
+          <ixx>0.00058</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00058</iyy>
+          <iyz>0</iyz>
+          <izz>0.00019</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.055000</radius>
+            <length>0.230000</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>0.055000</radius>
+            <length>0.230000</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://beer/materials/scripts</uri>
+            <uri>model://beer/materials/textures</uri>
+            <name>Beer/Diffuse</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libgazebo_usv_dynamics_plugin.so'>
+      <bodyName>link</bodyName>
+      <waterLevel>0</waterLevel>
+      <waterDensity>997.8</waterDensity>
+      <xDotU>0.0</xDotU>
+      <yDotV>0.0</yDotV>
+      <nDotR>0.0</nDotR>
+      <xU>1.0</xU>
+      <yV>1.0</yV>
+      <zW>1.0</zW>
+      <hullRadius>0.0381</hullRadius>
+      <boatWidth>0.1</boatWidth>
+      <boatLength>0.23</boatLength>
+      <length_n>1.5</length_n>
+      <wave_model>ocean_waves</wave_model>
+    </plugin>
+  </model>
+</sdf>