Merge pull request #162 from BCLab-UNM/add_rock_barrier

Added Rock Barrier Model and associated config files

Author: gmfricke

simulation/models/rock_barrier/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>rock_barrier</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

simulation/models/rock_barrier/model.sdf

@@ -0,0 +1,83 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='rock_barrier'>
+    <static>true</static>
+    <link name='link'>
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://rock_barrier/rock_barrier.stl</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>model://rock_barrier</uri>
+            <name>rock_barrier/Diffuse</name>
+          </script>
+        </material>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://rock_barrier/rock_barrier.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>

simulation/models/rock_barrier/rock_barrier.material

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