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Antonio-GriegoAntonio-Griego
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Added Rock Barrier Model and associated config files
The Rock Barrier was modeled to replicate the physical Rock Barrier used with the Swarmies. It has been added to the model database for use with the simulated rovers.
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‎simulation/models/rock_barrier/model.config‎

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<?xml version="1.0" ?>
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<model>
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<name>rock_barrier</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>

‎simulation/models/rock_barrier/model.sdf‎

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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='rock_barrier'>
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<static>true</static>
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<link name='link'>
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://rock_barrier/rock_barrier.stl</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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<script>
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<uri>model://rock_barrier</uri>
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<name>rock_barrier/Diffuse</name>
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</script>
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</material>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://rock_barrier/rock_barrier.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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</link>
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</model>
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</sdf>

‎simulation/models/rock_barrier/rock_barrier.material‎

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material rock_barrier/Diffuse
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{
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technique
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{
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pass
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{
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transparent_sorting on
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texture_unit
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{
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texture rock_barrier.png
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}
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}
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}
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}

‎simulation/models/rock_barrier/rock_barrier.png‎

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‎simulation/models/rock_barrier/rock_barrier.stl‎

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