Add UUV mechanism

dojo-sim · Apr 14, 2023 · 4f20926 · 4f20926
1 parent d5c5ff7
commit 4f20926
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Showing 16 changed files with 932,787 additions and 18 deletions.
diff --git a/DojoEnvironments/src/mechanisms/include.jl b/DojoEnvironments/src/mechanisms/include.jl
@@ -21,5 +21,6 @@ include("snake/mechanism.jl")
 include("sphere/mechanism.jl")
 include("tippetop/mechanism.jl")
 include("twister/mechanism.jl")
+include("uuv/mechanism.jl")
 include("walker/mechanism.jl")
 include("youbot/mechanism.jl")
diff --git a/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/pelican.obj b/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/pelican.obj
@@ -1,8 +1,3 @@
-# Aspose.3D Wavefront OBJ Exporter
-# Copyright 2004-2023 Aspose Pty Ltd.
-# File created: 04/13/2023 17:12:16
-
-
 #
 # object node
 #

diff --git a/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/propeller_ccw.obj b/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/propeller_ccw.obj
@@ -1,8 +1,3 @@
-# Aspose.3D Wavefront OBJ Exporter
-# Copyright 2004-2023 Aspose Pty Ltd.
-# File created: 04/13/2023 17:15:18
-
-
 #
 # object node
 #

diff --git a/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/propeller_cw.obj b/DojoEnvironments/src/mechanisms/quadrotor/dependencies/mesh/propeller_cw.obj
@@ -1,8 +1,3 @@
-# Aspose.3D Wavefront OBJ Exporter
-# Copyright 2004-2023 Aspose Pty Ltd.
-# File created: 04/13/2023 17:15:30
-
-
 #
 # object node
 #

diff --git a/DojoEnvironments/src/mechanisms/quadrotor/mechanism.jl b/DojoEnvironments/src/mechanisms/quadrotor/mechanism.jl
@@ -42,7 +42,7 @@ function get_quadrotor(;
         n = 4
         normals = fill(Z_AXIS,n)
         friction_coefficients = fill(friction_coefficient,n)
-        contact_radii = fill(0.07,4) # smaller than rotor size to allow for pitching close to ground
+        contact_radii = fill(0.07,n) # smaller than rotor size to allow for pitching close to ground
         contact_origins = [
             [0.21; 0; 0.045], 
             [-0.21; 0; 0.045], 

diff --git a/DojoEnvironments/src/mechanisms/uuv/dependencies/mesh/material.lib b/DojoEnvironments/src/mechanisms/uuv/dependencies/mesh/material.lib
@@ -0,0 +1,13 @@
+newmtl Material__211
+	Ka 0.2 0.2 0.2
+	Kd 0.752941 0 0
+	d 1
+	Tr 0
+	illum 2
+
+newmtl Material__52
+	Ka 0.2 0.2 0.2
+	Kd 0.792157 0.819608 0.933333
+	d 1
+	Tr 0
+	illum 2