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Add Fortress Buoy #35

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Sep 29, 2021
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Add Fortress Buoy #35

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98 changes: 98 additions & 0 deletions Fortress demo/fortress.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@
<density>1</density>
</density_change>
</graded_buoyancy>
<white_list>tethys</white_list>
<white_list>Buoy</white_list>
</plugin>

<scene>
Expand Down Expand Up @@ -368,6 +370,102 @@
</link>
</model>

<model name="Buoy">
<pose degrees="true">
19 11 -1.45 5 5 90
</pose>
<link name="base_link">
<inertial>
<pose>
0 0 0.15 0 0 0
</pose>
<mass>200</mass>
<inertia>
<ixx>33.33</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>33.33</iyy>
<iyz>0</iyz>
<izz>33.33</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>
0 0 0.15 0 0 0
</pose>
<geometry>
<box><size>1 1 1</size></box>
</geometry>
</collision>
<visual name="Purple">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/meshes/fortressstatue.dae</uri>
<submesh>
<name>Purple</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/materials/textures/Purple.png</albedo_map>
<roughness>0.4</roughness>
<metalness>0</metalness>
</metal>
</pbr>
</material>
</visual>
<visual name="White">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/meshes/fortressstatue.dae</uri>
<submesh>
<name>White</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/materials/textures/White.png</albedo_map>
<roughness>0.4</roughness>
<metalness>0</metalness>
</metal>
</pbr>
</material>
</visual>
<visual name="Black">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/meshes/fortressstatue.dae</uri>
<submesh>
<name>Black</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/fortress statue/2/files/materials/textures/Black.png</albedo_map>
<roughness>0.4</roughness>
<metalness>0</metalness>
</metal>
</pbr>
</material>
</visual>
</link>
</model>

<include>
<name>CleanerBot</name>
<pose degrees="true" rotation_format="euler_rpy">
Expand Down
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