From 383f68880f71c890b5c6e29a623f263ba8849d9e Mon Sep 17 00:00:00 2001
From: Eli Campos <108923575+elicampos@users.noreply.github.com>
Date: Sat, 23 Mar 2024 20:18:32 -0400
Subject: [PATCH] Blue Chevron File Added (#1067)

* Blue Chevron File Added

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: cameron brown <52760912+cbrxyz@users.noreply.github.com>
---
 .../models/Chevron/chevvie.dae                |  59 ++++++++++
 .../models/Chevron/model.config               |  11 ++
 .../models/Chevron/model.sdf                  | 107 ++++++++++++++++++
 3 files changed, 177 insertions(+)
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf

diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae
new file mode 100644
index 000000000..a48ae89d1
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae
@@ -0,0 +1,59 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2023-07-27T22:53:34</created>
+    <modified>2023-07-27T22:53:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Chevron_Mil-mesh" name="Chevron Mil">
+      <mesh>
+        <source id="Chevron_Mil-mesh-positions">
+          <float_array id="Chevron_Mil-mesh-positions-array" count="36">69.6 104.4 0 0 0 0 69.6 104.4 26.5176 0 0 26.5176 139.1826 0.01739996 0 139.1826 0.01739996 26.5176 121.8 0 0 121.8 0 26.5176 69.6 78.30653 0 69.6 78.30653 26.5176 17.4 0 0 17.4 0 26.5176</float_array>
+          <technique_common>
+            <accessor source="#Chevron_Mil-mesh-positions-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Chevron_Mil-mesh-normals">
+          <float_array id="Chevron_Mil-mesh-normals-array" count="48">-0.8320504 0.5547003 0 -0.8320504 0.5547003 0 0.8320716 0.5546683 0 0.8320717 0.5546683 0 0.001001 -0.9999996 0 0.001001 -0.9999995 0 -0.8320717 -0.5546681 0 -0.8320717 -0.5546682 0 0.8320717 -0.5546682 0 0.8320717 -0.5546683 0 0 -1 0 1.35274e-7 0 1 0 0 1 -2.23247e-7 0 1 1.35319e-7 0 1 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Chevron_Mil-mesh-normals-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Chevron_Mil-mesh-vertices">
+          <input semantic="POSITION" source="#Chevron_Mil-mesh-positions"/>
+        </vertices>
+        <triangles count="20">
+          <input semantic="VERTEX" source="#Chevron_Mil-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Chevron_Mil-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 0 2 5 2 5 3 0 3 2 3 6 4 4 4 7 4 7 5 4 5 5 5 8 6 6 6 9 6 9 7 6 7 7 7 10 8 8 8 11 8 11 9 8 9 9 9 1 10 10 10 3 10 3 10 10 10 11 10 11 11 9 11 3 11 3 12 9 12 2 12 2 13 9 13 5 13 5 14 9 14 7 14 10 15 1 15 8 15 8 15 1 15 0 15 8 15 0 15 4 15 4 15 6 15 8 15</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Chevron_Mil" name="Chevron Mil" type="NODE">
+        <matrix sid="transform">0.002926874 0 0 0 0 0.002919541 0 0.3048 0 0 0.002926358 0 0 0 0 1</matrix>
+        <instance_geometry url="#Chevron_Mil-mesh" name="Chevron Mil"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config
new file mode 100644
index 000000000..e98c69b9d
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Chevron</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf
new file mode 100644
index 000000000..fa832a805
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf
@@ -0,0 +1,107 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='Chevron'>
+    <link name='link_0'>
+      <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>
+        <pose>0 0 0 0 -0 0</pose>
+      </inertial>
+      <pose>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <enable_wind>0</enable_wind>
+      <visual name='visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://Chevron/chevvie.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>0.674 0.847 0.902 1</ambient>
+          <diffuse>0.674 0.847 0.902 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </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>/home/elicampos/Desktop/MIL/chevron/chevvie.dae</uri>
+            <scale>1 1 1</scale>
+          </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>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>