From 33e9038238d9e52b73845c58a5d6906539420b7a Mon Sep 17 00:00:00 2001
From: Mrinall Umasudhan <mrinalluma@gmail.com>
Date: Tue, 19 Sep 2023 15:38:20 -0400
Subject: [PATCH] add dhd

---
 .../subjugator_gazebo/models/dhd/dhd.dae      | 362 ++++++++++++++++++
 .../models/dhd/dhdlongbars.dae                | 280 ++++++++++++++
 .../subjugator_gazebo/models/dhd/model.config |  14 +
 .../subjugator_gazebo/models/dhd/model.sdf    |  24 ++
 4 files changed, 680 insertions(+)
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/dhd/dhd.dae
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/dhd/dhdlongbars.dae
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/dhd/model.config
 create mode 100644 SubjuGator/simulation/subjugator_gazebo/models/dhd/model.sdf

diff --git a/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhd.dae b/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhd.dae
new file mode 100644
index 000000000..fbb5516bf
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhd.dae
@@ -0,0 +1,362 @@
+<?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>2023-09-19T15:22:58</created>
+    <modified>2023-09-19T15:22:58</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">205.96</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01492373 0.01090463 0.01884682 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
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+        <matrix sid="transform">1 0 0 0.14939 0 1 0 -1.063735 0 0 0.25 2.41442 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_004-mesh" name="Cylinder.004"/>
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+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder.002"/>
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+        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
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+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
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+        <instance_camera url="#Camera-camera"/>
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+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhdlongbars.dae b/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhdlongbars.dae
new file mode 100644
index 000000000..04db11d2f
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/dhd/dhdlongbars.dae
@@ -0,0 +1,280 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <author>Blender User</author>
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+    <modified>2023-09-19T01:59:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+      <optics>
+        <technique_common>
+          <perspective>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
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+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">205.96</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
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+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
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+        </point>
+      </technique_common>
+      <extra>
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+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
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+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
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+          <bias sid="bias" type="float">1</bias>
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+          <bufsize sid="bufsize" type="int">2880</bufsize>
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+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="810" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="270">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 0 7 22 14 7 23 14 8 24 2 8 25 6 8 26 19 0 27 20 0 28 18 0 29 21 9 30 22 9 31 20 9 32 23 10 33 24 10 34 22 10 35 25 11 36 26 11 37 24 11 38 27 12 39 28 12 40 26 12 41 29 13 42 30 13 43 28 13 44 32 14 45 16 14 46 33 14 47 31 15 48 32 15 49 30 15 50 33 16 51 18 16 52 32 16 53 24 8 54 28 8 55 32 8 56 32 14 57 35 14 58 17 14 59 32 17 60 37 17 61 33 17 62 17 17 63 34 17 64 16 17 65 16 14 66 37 14 67 33 14 68 36 14 69 41 14 70 35 14 71 36 14 72 43 14 73 37 14 74 34 14 75 43 14 76 37 14 77 19 14 78 38 14 79 18 14 80 35 14 81 40 14 82 34 14 83 41 14 84 46 14 85 40 14 86 39 14 87 44 14 88 38 14 89 45 18 90 48 18 91 44 18 92 20 19 93 51 19 94 21 19 95 22 20 96 53 20 97 23 20 98 24 21 99 55 21 100 25 21 101 26 18 102 57 18 103 27 18 104 29 22 105 58 22 106 59 22 107 30 23 108 61 23 109 31 23 110 63 24 111 64 24 112 62 24 113 65 25 114 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504 105 120 505 104 120 506 105 121 507 107 121 508 106 121 509 107 122 510 109 122 511 108 122 512 109 47 513 111 47 514 110 47 515 111 123 516 113 123 517 112 123 518 113 124 519 115 124 520 114 124 521 115 125 522 117 125 523 116 125 524 117 126 525 119 126 526 118 126 527 119 127 528 121 127 529 120 127 530 121 128 531 123 128 532 122 128 533 67 129 534 65 129 535 63 129 536 63 130 537 125 130 538 123 130 539 123 131 540 121 131 541 119 131 542 119 14 543 117 14 544 115 14 545 115 14 546 113 14 547 107 14 548 113 14 549 111 14 550 107 14 551 111 14 552 109 14 553 107 14 554 107 14 555 105 14 556 103 14 557 103 14 558 101 14 559 107 14 560 101 14 561 99 14 562 107 14 563 99 132 564 97 132 565 95 132 566 95 14 567 93 14 568 99 14 569 93 14 570 91 14 571 99 14 572 91 133 573 89 133 574 87 133 575 87 14 576 85 14 577 91 14 578 85 14 579 83 14 580 91 14 581 83 14 582 81 14 583 79 14 584 79 14 585 77 14 586 83 14 587 77 14 588 75 14 589 83 14 590 75 134 591 73 134 592 71 134 593 71 133 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127 170 775 126 170 776 62 171 777 126 171 778 157 171 779 82 172 780 136 172 781 135 172 782 100 173 783 145 173 784 144 173 785 118 174 786 154 174 787 153 174 788 74 175 789 132 175 790 131 175 791 92 176 792 141 176 793 140 176 794 110 177 795 150 177 796 149 177 797 66 178 798 128 178 799 127 178 800 84 179 801 137 179 802 136 179 803 102 180 804 146 180 805 145 180 806 120 181 807 155 181 808 154 181 809</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder_003" name="Cylinder.003" type="NODE">
+        <matrix sid="transform">1 0 0 -0.241146 0 1 0 -2.1078 0 0 1 1.637 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_003-mesh" name="Cylinder.003"/>
+      </node>
+      <node id="Cylinder_002" name="Cylinder.002" type="NODE">
+        <matrix sid="transform">1 0 0 -0.5227143 0 1 0 -1.385658 0 0 1 1.637 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder.002"/>
+      </node>
+      <node id="Cylinder_001" name="Cylinder.001" type="NODE">
+        <matrix sid="transform">1 0 0 0.4668205 0 1 0 -1.889961 0 0 1 1.637 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="Cylinder.001"/>
+      </node>
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">1 0 0 -0.01090822 0 1 0 -1.599125 0 0 1 2.609722 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 2.861232 0.7276763 0.3054208 -0.6141704 -0.717347 0 0.8953956 0.4452714 1.617842 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.config b/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.config
new file mode 100644
index 000000000..b46064807
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.config
@@ -0,0 +1,14 @@
+<model>
+  <name>dhd</name>
+  <version>1.0</version>
+  <sdf version='1.5'>model.sdf</sdf>
+
+  <author>
+    <name>Unknown</name>
+    <email>someone@gmail.com</email>
+  </author>
+
+  <description>
+     
+  </description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.sdf b/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.sdf
new file mode 100644
index 000000000..d19357a8f
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/dhd/model.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+  <model name="dhd">
+    <static>true</static>
+    <link name="dhd">
+      <collision name='dhdcol'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://dhd/dhd.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="dhdvis">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://dhd/dhd.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>