add ecaa9, techpod, flappy, blackbird

pyrobolearn/robots/base.py

@@ -305,7 +305,7 @@ class Body(object):
     # just create setter
     def _set_force(self, force):
         """Set the given force (expressed in the world cartesian frame) on the center of mass of the body."""
-        self.apply_force(link_id=-1, force=force, position=None, frame=Simulator.WORLD_FRAME)
+        self.apply_external_force(link_id=-1, force=force, position=None, frame=Simulator.WORLD_FRAME)
 
     force = property(fset=_set_force)
 
@@ -322,7 +322,7 @@ class Body(object):
         """
         self.sim.change_visual_shape(object_id=self.id, link_id=link_id, rgba_color=color)
 
-    def apply_force(self, link_id=-1, force=(0., 0., 0.), position=None, frame=Simulator.LINK_FRAME):
+    def apply_external_force(self, force=(0., 0., 0.), link_id=-1, position=None, frame=Simulator.LINK_FRAME):
         """
         Apply the given force on the specified link of the current body.
 
@@ -331,17 +331,17 @@ class Body(object):
             - this does not work when using `sim.setRealTimeSimulation(1)`.
 
         Args:
-            link_id (int): link id to apply the force, if -1 it will apply the force on the base
             force (np.array[3]): Cartesian forces to be applied on the body
+            link_id (int): link id to apply the force, if -1 it will apply the force on the base
             position (np.array[3], None): position on the link where the force is applied (expressed in the given
                 cartesian frame, see next attribute :attr:`frame`). If None, it is the center of mass of the body
                 (or the link if specified).
             frame (int): allows to specify the coordinate system of force/position. sim.LINK_FRAME (=1) for local
                 link frame, and sim.WORLD_FRAME (=2) for world frame. By default, it is the world frame.
         """
-        self.sim.apply_external_force(self.id, link_id, force, position, frame)
+        self.sim.apply_external_force(body_id=self.id, link_id=link_id, force=force, position=position, frame=frame)
 
-    def apply_external_torque(self, link_id=-1, torque=(0., 0., 0.), frame=Simulator.LINK_FRAME):
+    def apply_external_torque(self, torque=(0., 0., 0.), link_id=-1, frame=Simulator.LINK_FRAME):
         """
         Apply an external torque on the body, or a link of the body. Note that after each simulation step, the external
         torques are cleared to 0.
@@ -349,8 +349,8 @@ class Body(object):
         Warnings: This does not work when using `sim.setRealTimeSimulation(1)`.
 
         Args:
-            link_id (int): link id to apply the torque, if -1 it will apply the torque on the base
             torque (float[3]): Cartesian torques to be applied on the body
+            link_id (int): link id to apply the torque, if -1 it will apply the torque on the base
             frame (int): Specify the coordinate system of force/position: either `pybullet.WORLD_FRAME` (=2) for
                 Cartesian world coordinates or `pybullet.LINK_FRAME` (=1) for local link coordinates.
         """

pyrobolearn/robots/crab.py

@@ -45,14 +45,14 @@ class Crab(HexapodRobot):
 
         self.legs = [[self.get_link_ids(link) for link in links if link in self.link_names]
                      for links in [['coxa_l1', 'femur_l1', 'tibia_l1'],
-                                   [ 'coxa_r1', 'femur_r1', 'tibia_r1'],
+                                   ['coxa_r1', 'femur_r1', 'tibia_r1'],
                                    ['coxa_l2', 'femur_l2', 'tibia_l2'],
                                    ['coxa_r2', 'femur_r2', 'tibia_r2'],
                                    ['coxa_l3', 'femur_l3', 'tibia_l3'],
                                    ['coxa_r3', 'femur_r3', 'tibia_r3']]]
 
         self.feet = [self.get_link_ids(link) for link in ['tibia_foot_l1', 'tibia_foot_r1', 'tibia_foot_l2',
-                                                        'tibia_foot_r2', 'tibia_foot_l3', 'tibia_foot_r3']
+                                                          'tibia_foot_r2', 'tibia_foot_l3', 'tibia_foot_r3']
                      if link in self.link_names]
 
 

pyrobolearn/robots/ecaa9.py

@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+"""Provide the ECA A9 autonomous underwater vehicle platform.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.robots.uuv import UUVRobot
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+# TODO: fix inertia tags in the URDF file
+# TODO: several methods need to be moved to the `uuv.py` file.
+class ECAA9(UUVRobot):
+    r"""Autonomous Unmanned Underwater Vehicle A9 from the ECA group
+
+    WARNING: Currently, pybullet does not simulate fluids, so we simulate the thrust, drag, buoyancy, lift, and weight
+    forces acting on the body. The gravity/weight force is simulated by pybullet.
+
+    The various forces are given by [3,4]:
+
+    1. The gravity/weight force is due to the attraction pull of the Earth is given by:
+
+    .. math:: F_g = m g
+
+    where :math:`m` is the mass of the object, and :math:`g` is the gravity constant (which is around
+    :math:`9.81 m/s^2` on the earth).
+
+    2. The buoyancy force is given by:
+
+    .. math:: F_b = \rho g V
+
+    where :math:`\rho` is the fluid density, :math:`g` is the gravity constant, and `V` is the volume of the
+    body submerged in the fluid.
+
+    3. The thrust force is due to the engine/motor/propeller of the object:
+
+    .. math:: F_t = \dot{m}_e v_e - \dot{m}_0 v_0 + (p_e - p_0) A_e
+
+    where :math:`\dot{m} = \rho A v` is the mass flow rate (i.e. mass/time), :math:`\rho` is the fluid density,
+    :math:`v` is the velocity, :math:`A` is the area where its normal is parallel to fluid flow, :math:`p` is the
+    pressure. The indices :math:`e` and :math:`0` stands for the exit and free stream (at the front of the submarine).
+
+    4. The lift force is given by:
+
+    .. math:: F_l = 1/2 C_l \rho A v^2
+
+    where :math:`C_l` is the lift coefficient at the desired angle of attack, :math:`A` is the platform area, \rho is
+    the fluid density, and :math:`v` is the velocity.
+
+    5. The drag force (which is opposed to the movement) is given by:
+
+    .. math:: F_d = 1/2 C_d \rho A v^2
+
+    where :math:`C_d` is the drag coefficient which is depending on the shape of the object, friction and viscosity
+    of the fluid, :math:`\rho` is the fluid density, :math:`A` is the platform area, and :math:`v` is the velocity.
+    For a submarine, the coefficient is approximately around 0.04 (see [3]).
+
+    References:
+        [1] https://www.ecagroup.com/en/solutions/a9-s-auv-autonomous-underwater-vehicle
+        [2] UUV Simulator: https://uuvsimulator.github.io/
+        [3] Aerodynamics (Nasa - check for equation): https://www.grc.nasa.gov/www/k-12/airplane/short.html
+        [4] https://s2.smu.edu/propulsion/Pages/navigation.htm
+        [5] Introduction to Ocean Waves: http://pordlabs.ucsd.edu/rsalmon/111.textbook.pdf
+        [6] https://fenicsproject.org/
+    """
+
+    def __init__(self, simulator, position=(0, 0, 1.), orientation=(0, 0, 0, 1), fixed_base=False, scaling=1.,
+                 urdf_path=os.path.dirname(__file__) + '/urdfs/ecaa9/eca_a9.urdf'):
+        # check parameters
+        if position is None:
+            position = (0., 0., 1.)
+        if len(position) == 2:  # assume x, y are given
+            position = tuple(position) + (1.,)
+        if orientation is None:
+            orientation = (0, 0, 0, 1)
+        if fixed_base is None:
+            fixed_base = False
+
+        super(ECAA9, self).__init__(simulator, urdf_path, position, orientation, fixed_base, scaling)
+        self.name = 'eca_a9'
+
+        self.volume = 0.0679998770412 * scaling**3  # from urdf
+        self.sea_water_density = 1027
+        self.center_buoyancy = np.array([0.000106, 0., 0.6])  # from urdf
+
+    def calculate_buoyancy_force(self, fluid_density=None, g=9.81):
+        r"""
+        Calculate the buoyancy force.
+
+        Args:
+            fluid_density (float, None): density of the fluid [kg/m^3]
+            g (gravity): gravity value in the z direction.
+
+        Returns:
+            np.array[3]: buoyancy force
+        """
+        # currently, we assume that the whole body is submerged in the
+        if fluid_density is None:
+            fluid_density = self.sea_water_density
+        return fluid_density * g * self.volume * np.array([0., 0., 1.])
+
+    # TODO: add `fill_tank(volume)` and `empty_tank(volume)`
+    def add_mass(self, mass=0., local_inertia_diagonal=(0., 0., 0.)):
+        r"""
+        Add mass to the submarine; a submarine has multiple ballast/trim tanks to control its buoyancy. This is
+        only valid in the simulator.
+
+        Args:
+            mass (float): mass that will be added to the base link.
+            local_inertia_diagonal (np.array[3]): local inertia diagonal around the CoM of the base link.
+        """
+        info = self.sim.get_dynamics_info(body_id=self.id, link_id=-1)
+        mass += info[0]
+        local_inertia_diagonal = np.array(local_inertia_diagonal) + np.array(info[2])
+        self.sim.change_dynamics(body_id=self.id, link_id=-1, mass=mass, local_inertia_diagonal=local_inertia_diagonal)
+
+
+# Test
+if __name__ == "__main__":
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.worlds import BasicWorld
+
+    # Create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+
+    # create robot
+    robot = ECAA9(sim)
+
+    # print information about the robot
+    robot.print_info()
+
+    fb = robot.calculate_buoyancy_force()
+    robot.add_mass(0.05)
+    # robot.add_joint_slider(range(5))
+
+    # robot.change_transparency(alpha=1.)
+
+    # run simulation
+    for i in count():
+        pos = robot.get_base_position()
+        # apply force in the simulation
+        robot.apply_external_force(force=fb, link_id=-1, position=pos+robot.center_buoyancy,
+                                   frame=BulletSim.WORLD_FRAME)
+        # robot.update_joint_slider()
+        # robot.set_joint_velocities([10], [4])
+        # step in simulation
+        world.step(sleep_dt=1./240)

pyrobolearn/robots/flappy.py

@@ -0,0 +1,433 @@
+#!/usr/bin/env python
+"""Provide the techpod platform.
+"""
+
+import os
+import json
+import numpy as np
+
+from pyrobolearn.robots.uav import FlappingWingUAV
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = "Fei et al."
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class SimpleNamespace:
+    """A simple object subclass that provides attribute access to its namespace, as well as a meaningful repr.
+
+    Taken from: https://docs.python.org/3/library/types.html
+    """
+    def __init__(self, **kwargs):
+        self.__dict__.update(kwargs)
+
+    def __repr__(self):
+        keys = sorted(self.__dict__)
+        items = ("{}={!r}".format(k, self.__dict__[k]) for k in keys)
+        return "{}({})".format(type(self).__name__, ", ".join(items))
+
+    def __eq__(self, other):
+        return self.__dict__ == other.__dict__
+
+
+class Wing(object):
+    r"""Wing
+
+    Python code translated from C++ code provided in [1].
+
+    References:
+        [1] https://github.com/purdue-biorobotics/flappy/blob/master/flappy/envs/Wing.cpp
+        [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al.,
+            2019
+    """
+
+    def __init__(self, wing_index, wing_length, mean_chord, r33, r22, r11, r00, z_cp2, z_cp1, z_cp0, z_rd,
+                 shoulder_width, stroke_plane_offset):
+        r"""
+        Initialize the wing and compute the dynamics on it.
+
+        Args:
+            wing_index (int): wing index (0 or 1). This is used to determine the sign of the axis for the motors.
+                Set it to 0 for the left wing, and 1 for the right wing.
+            wing_length (float): length of wing.
+            mean_chord (float): mean of the chord. "In aeronautics, a chord is the imaginary straight line joining the
+                leading and trailing edges of an aerofoil. The chord length is the distance between the trailing edge
+                and the point on the leading edge where the chord intersects the leading edge." (from Wikipedia)
+            r33 (float): wing geometry constant.
+            r22 (float): wing geometry constant.
+            r11 (float): wing geometry constant.
+            r00 (float): wing geometry constant.
+            z_cp2 (float): wing geometry constant.
+            z_cp1 (float): wing geometry constant.
+            z_cp0 (float): wing geometry constant.
+            z_rd (float): wing geometry constant.
+            shoulder_width (float): should width
+            stroke_plane_offset (float): stroke plane offset.
+        """
+        self.air_density = 1.18009482370369
+        self.wing_index = wing_index
+        self.wing_length = wing_length
+        self.mean_chord = mean_chord
+        self.r33 = r33
+        self.r22 = r22
+        self.r11 = r11
+        self.r00 = r00
+        self.z_cp2 = z_cp2
+        self.z_cp1 = z_cp1
+        self.z_cp0 = z_cp0
+        self.z_rd = z_rd
+        self.sign = pow(-1, wing_index)
+
+        self.r_w = wing_length
+        self.d_0 = shoulder_width
+        self.d_s = stroke_plane_offset
+        self.r_cp = self.r_w * r33/r22  # span-wise center of pressure
+
+        # total force and moments
+        self.span_wise_center_of_pressure = 0
+        self.cord_wise_center_of_pressure = 0
+        self.normal_force = 0
+        self.aero_moment = 0
+        self.rotational_damping_moment = 0
+
+        # rotational damping moment coefficient
+        self.Crd = 5.0
+
+    def do_nothing(self):
+        # total force and moments
+        self.span_wise_center_of_pressure = 0
+        self.cord_wise_center_of_pressure = 0
+        self.normal_force = 0
+        self.aero_moment = 0
+        self.rotational_damping_moment = 0
+
+    def update_aero_force(self):
+        """Update the aerodynamic forces applied on the wing; i.e. the normal force, aerodynamic moment and rotational
+        damping moment (the equations are provided in [2]).
+        """
+        self.update_velocity_coefficients()
+        self.update_angle_of_attack()
+        self.CN = self.get_CN(self.alpha)
+        self.d_cp = self.get_center_of_pressure(self.alpha)
+        self.update_velocity_squared_coefficients()
+
+        # the normal force, aerodynamic moment and rotational damping moment are given in [2]
+        self.normal_force = 0.5 * self.air_density * self.mean_chord * self.CN * \
+                            (self.a_u2 * self.r_w**3 * self.r22 + self.a_u1 * self.r_w**2 * self.r11 +
+                             self.a_u0 * self.r_w * self.r00)
+        self.aero_moment = -0.5 * self.air_density * self.d_cp * self.CN * self.mean_chord**2 * \
+                           (self.a_u2 * self.r_w**3 * self.z_cp2 + self.a_u1 * self.r_w**2 * self.z_cp1 +
+                            self.a_u0 * self.r_w * self.z_cp0)
+
+        if self.normal_force != 0:
+            self.cord_wise_center_of_pressure = -self.aero_moment / self.normal_force
+        else:
+            self.cord_wise_center_of_pressure = 0
+
+        self.span_wise_center_of_pressure = self.r_cp
+
+        self.rotational_damping_moment = -0.125 * self.air_density * np.abs(self.dtheta) * self.dtheta * self.Crd * \
+                                         self.r_w * self.mean_chord**4 * self.z_rd
+
+    def update_state(self, body_velocity_rpy, body_velocity, stroke_plane_angle, stroke_plane_velocity, stroke_angle,
+                     stroke_velocity, deviation_angle, deviation_velocity, rotate_angle, rotate_velocity):
+        """Update the state of the wing."""
+        self.velocity = body_velocity
+        self.drpy = body_velocity_rpy
+
+        # stroke plane
+        self.Phi = stroke_plane_angle
+        self.dPhi = stroke_plane_velocity
+
+        # stroke
+        self.psi = stroke_angle
+        self.dpsi = stroke_velocity
+
+        # deviation
+        self.phi = deviation_angle
+        self.dphi = deviation_velocity
+
+        # wing rotation
+        self.theta = rotate_angle
+        self.dtheta = rotate_velocity
+
+        # wing trigonometry pre calculation
+        self.s_Phi = np.sin(self.Phi)
+        self.c_Phi = np.cos(self.Phi)
+        self.s_psi = np.sin(self.psi)
+        self.c_psi = np.cos(self.psi)
+        self.s_phi = np.sin(self.phi)
+        self.c_phi = np.cos(self.phi)
+
+    def update_velocity_coefficients(self):
+        """Update the velocity coefficients."""
+        u, v, w = self.velocity
+        p, q, r = self.drpy
+        s_Phi, c_Phi, s_psi, c_psi, s_phi, c_phi = self.s_Phi, self.c_Phi, self.s_psi, self.c_psi, self.s_phi, \
+                                                   self.c_phi
+        dPhi, dpsi, dphi = self.dPhi, self.dpsi, self.dphi
+        d_0, d_s = self.d_0, self.d_s
+
+        # velocity coefficients
+        self.u_o1 = self.sign * (p * c_psi * c_Phi - dPhi * s_psi) + (q * s_psi + r * c_psi * s_Phi + dphi)
+        self.u_o0 = self.sign * (-(u + q * d_s) * c_phi * s_Phi - r * d_0 * s_phi * s_psi * c_Phi - (v - p * d_s) *
+                                 s_phi * c_psi + w * s_phi * s_psi * s_Phi + p * d_0 * c_phi * c_Phi) + \
+                    ((u + q * d_s) * s_phi * s_psi * c_Phi + r * d_0 * c_phi * s_Phi + w * c_phi * c_Phi + p * d_0 *
+                     s_phi * s_psi * s_Phi)
+        self.u_i1 = self.sign * (p * s_phi * s_psi * c_Phi + r * c_phi * c_Phi + dPhi * s_phi * c_psi) + \
+                    (-p * c_phi * s_Phi - q * s_phi * c_psi + r * s_phi * s_psi * s_Phi + dpsi * c_phi)
+        self.u_i0 = self.sign * (r * d_0 * c_psi * c_Phi - (v - p * d_s) * s_psi - w * c_psi * s_Phi) + \
+                    (-(u + q * d_s) * c_psi * c_Phi - p * d_0 * c_psi * s_Phi)
+
+    def update_angle_of_attack(self):
+        """Update the angle of attack (AoA)."""
+        # AoA correction double
+        self.u_i = self.u_i1 * self.r_cp + self.u_i0
+
+        if self.u_i != 0:
+            self.delta_alpha = np.arctan((self.u_o1 * self.r_cp + self.u_o0) / (self.u_i1 * self.r_cp + self.u_i0))
+        else:
+            self.delta_alpha = 0
+
+        # geometric AoA
+        self.alpha_0 = self.theta + np.double(np.sign(self.u_i)) * np.pi / 2
+
+        self.alpha = self.alpha_0 - self.delta_alpha
+
+    @staticmethod
+    def get_CN(alpha):
+        # see equation (8) in paper [2]
+        return 1.8 * np.sin(2 * alpha) * np.cos(alpha) + 1.95 * np.sin(alpha) - 1.5 * np.cos(2 * alpha) * np.sin(alpha)
+
+    @staticmethod
+    def get_center_of_pressure(alpha):
+        return 0.46 - 0.332 * np.cos(alpha) - 0.037 * np.cos(3 * alpha) - 0.013 * np.cos(5 * alpha)
+
+    def update_velocity_squared_coefficients(self):
+        # velocity squared coefficients
+        self.a_u2 = self.u_i1**2 + self.u_o1**2
+        self.a_u1 = 2 * self.u_i1 * self.u_i0 + 2 * self.u_o1 * self.u_o0
+        self.a_u0 = self.u_i0**2 + self.u_o0**2
+
+
+class Actuator:
+    r"""Actuator
+
+    Code copied-pasted from [1] (I didn't change anything except adding some whitespaces).
+
+    References:
+        [1] https://github.com/purdue-biorobotics/flappy/blob/master/flappy/envs/Wing.cpp
+        [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al.,
+            2019
+    """
+
+    def __init__(self, motor_properties):
+
+        config = SimpleNamespace(**motor_properties)
+        self.resistance = config.resistance
+        self.torque_constant = config.torque_constant
+        self.gear_ratio = config.gear_ratio
+        self.mechanical_efficiency = config.mechanical_efficiency
+        self.friction_coefficient = config.friction_coefficient
+        self.damping_coefficient = config.damping_coefficient
+        self.inertia = config.inertia
+
+        self.inertia_torque = 0
+        self.damping_torque = 0
+        self.friction_torque = 0
+        self.magnetic_torque = 0
+        self.motor_torque = 0
+
+        self.voltage = 0
+
+        self.current = 0
+        self.back_EMF = 0
+        self.output_torque = 0
+        self.config = config
+        self.reset()
+
+    def update_driver_voltage(self, voltage):
+        self.voltage = voltage
+
+    def update_torque(self, stroke_velocity, stroke_acceleration):
+        psi_dot = stroke_velocity
+        psi_ddot = stroke_acceleration
+        motor_vel = psi_dot * self.gear_ratio
+        motor_accel = psi_ddot * self.gear_ratio
+        if psi_dot > 0:
+            sign = 1
+        elif psi_dot < 0:
+            sign = -1
+        else:
+            sign = 0
+
+        self.back_EMF = self.torque_constant * motor_vel
+        self.current = (self.voltage - self.back_EMF) / self.resistance
+
+        self.inertia_torque = self.inertia * motor_accel
+        self.damping_torque = self.damping_coefficient * motor_vel
+        self.friction_torque = self.friction_coefficient * sign
+        self.magnetic_torque = self.torque_constant * self.current
+
+        self.motor_torque = self.magnetic_torque - self.inertia_torque - self.damping_torque - self.friction_torque
+
+        self.output_torque = self.motor_torque * self.gear_ratio * self.mechanical_efficiency
+
+    def get_torque(self):
+        return self.output_torque
+
+    def reset(self):
+        self.inertia_torque = 0
+        self.damping_torque = 0
+        self.friction_torque = 0
+        self.magnetic_torque = 0
+        self.motor_torque = 0
+
+        self.current = 0
+        self.back_EMF = 0
+        self.output_torque = 0
+
+
+class Flappy(FlappingWingUAV):
+    r"""Flappy Hummingbird UAV (from Purdue University)
+
+    This is the main class for the flappy hummingbird (a flapping wing micro aerial vehicle (FWMAV)). Most of the code
+    as well as the URDF model comes from [2,3].
+
+    The flappy hummingbird has 2 wings and each one has 2 degrees of freedom; the stroke and rotation angles.
+
+    Warnings: Currently, in pybullet there is no air, so we simulate all the forces acting on the flappy vehicle as
+    described in the paper and code [2,3]. The gravity is carried out by pybullet.
+
+    References:
+        [1] "Design Optimization and System Integration of Robotic Hummingbird", 2017, Zhang et al.
+        [2] "Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals", Fei et al.,
+            2019
+        [3] https://github.com/purdue-biorobotics/flappy
+    """
+
+    def __init__(self, simulator, position=(0, 0, 0.5), orientation=(0, 0, 0, 1), fixed_base=False, scaling=1.,
+                 urdf=os.path.dirname(__file__) + '/urdfs/flappy/flappy.urdf',
+                 config=os.path.dirname(__file__) + '/urdfs/flappy/config/mav_config.json'):
+        super(Flappy, self).__init__(simulator, urdf, position, orientation, fixed_base)
+
+        with open(config) as f:
+            config = json.load(f)[0]
+            config = SimpleNamespace(**config)
+
+        # create wings
+        self.left_wing = Wing(0, config.wing_length, config.mean_chord, config.r33, config.r22, config.r11, config.r00,
+                              config.z_cp2, config.z_cp1, config.z_cp0, config.z_rd, config.left_shoulder_width,
+                              config.stroke_plane_offset)
+        self.right_wing = Wing(1, config.wing_length, config.mean_chord, config.r33, config.r22, config.r11, config.r00,
+                               config.z_cp2, config.z_cp1, config.z_cp0, config.z_rd, config.right_shoulder_width,
+                               config.stroke_plane_offset)
+
+        # create motors
+        self.left_motor = Actuator(config.left_motor_properties)
+        self.right_motor = Actuator(config.right_motor_properties)
+
+        # joints
+        self.left_wing_joints = [self.get_link_ids(link) for link in ['left_leading_edge', 'left_wing']
+                                 if link in self.link_names]
+        self.right_wing_joints = [self.get_link_ids(link) for link in ['right_leading_edge', 'right_wing']
+                                  if link in self.link_names]
+        self.wings = [self.left_wing_joints, self.right_wing_joints]
+        # joints = [left stroke, left rotate, right stroke, right rotate]
+        self.wing_joints = self.left_wing_joints + self.right_wing_joints
+
+        # dummy variables for now
+        # self.driver_update_time = 0
+        # self.dt_driver = 1./1e3
+        self.prev_t = None
+        self.prev_joint_velocities = None
+
+    def apply_voltage(self, t, input_voltage):  # step(self, t, input_voltage):
+        # get the joint positions for the left and right wing joints
+        joint_positions = self.get_joint_positions(self.wing_joints)
+        joint_velocities = self.get_joint_velocities(self.wing_joints)
+        # joint_accelerations = self.get_joint_accelerations(self.wing_joints)
+        if self.prev_t is None:
+            joint_accelerations = np.zeros(len(self.wing_joints))
+        else:
+            joint_accelerations = (joint_velocities - self.prev_joint_velocities) / (t - self.prev_t)
+
+        # update aerodynamic forces
+        self.left_wing.update_state(self.angular_velocity, self.linear_velocity, 0, 0, joint_positions[0],
+                                    joint_velocities[0], 0, 0, joint_positions[1], joint_velocities[1])
+        self.right_wing.update_state(self.angular_velocity, self.linear_velocity, 0, 0, joint_positions[2],
+                                     joint_velocities[2], 0, 0, joint_positions[3], joint_velocities[3])
+        self.left_wing.update_aero_force()
+        self.right_wing.update_aero_force()
+
+        # update voltage
+        # if t >= self.driver_update_time:
+        #     self.driver_update_time += self.dt_driver
+        self.left_motor.update_driver_voltage(input_voltage[0])
+        self.right_motor.update_driver_voltage(input_voltage[1])
+
+        # update torque (left and right strokes)
+        self.left_motor.update_torque(joint_velocities[0], joint_accelerations[0])
+        self.right_motor.update_torque(joint_velocities[2], joint_accelerations[2])
+
+        # apply stroke torque
+        torques = np.zeros(self.num_dofs)
+        torques[0] = self.left_motor.get_torque()
+        torques[2] = self.right_motor.get_torque()
+        self.set_joint_torques(torques)
+
+        # get aero forces
+        left_normal_force = np.array([self.left_wing.normal_force, 0, 0])  # in wing x direction
+        right_normal_force = np.array([self.right_wing.normal_force, 0, 0])
+        left_cop = np.array([0, self.left_wing.span_wise_center_of_pressure,
+                             (-1) * self.left_wing.cord_wise_center_of_pressure])
+        right_cop = np.array([0, (-1) * self.right_wing.span_wise_center_of_pressure,
+                              (-1) * self.right_wing.cord_wise_center_of_pressure])
+        left_rot_damping_moment = np.array([0, self.left_wing.rotational_damping_moment, 0])  # in wing y direction
+        right_rot_damping_moment = np.array([0, self.right_wing.rotational_damping_moment, 0])
+
+        # apply aero force and moment on wing
+        # self.apply_external_force(left_normal_force, link_id=1, position=left_cop, frame=BulletSim.LINK_FRAME)
+        # self.apply_external_force(right_normal_force, link_id=3, position=right_cop, frame=BulletSim.LINK_FRAME)
+        # self.apply_external_torque(left_rot_damping_moment, link_id=1, frame=BulletSim.LINK_FRAME)
+        # self.apply_external_torque(right_rot_damping_moment, link_id=3, frame=BulletSim.LINK_FRAME)
+
+        # save
+        self.prev_t = t
+        self.prev_joint_velocities = joint_velocities
+
+
+# Test
+if __name__ == "__main__":
+    import time
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.worlds import BasicWorld
+
+    # Create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+
+    # create robot
+    robot = Flappy(sim)
+
+    # print information about the robot
+    robot.print_info()
+    robot.add_joint_slider(robot.left_wing_joints)
+
+    # run simulation
+    for i in count():
+        robot.update_joint_slider()
+        # signal = 3 * np.sin(2. * np.pi * i/1000) * np.ones(2)
+        # robot.apply_voltage(time.time(), signal)
+        # robot.set_joint_positions(1. * np.sin(2 * np.pi * i/240), joint_ids=0)
+        # step in simulation
+        world.step(sleep_dt=1./240)

pyrobolearn/robots/quadcopter.py

@@ -18,12 +18,13 @@ __email__ = "briandelhaisse@gmail.com"
 __status__ = "Development"
 
 
+# TODO: several methods such as the calculation of the thrust force should be done in `uav.py` file, not here
 class Quadcopter(RotaryWingUAV):
     r"""Quadcopter
 
     WARNING: Currently, in pybullet there is no air, so we simulate the thrust force.
 
-    Based on momentum theory, we can calculate the thrust [4,5,6] to be:
+    Based on momentum theory, we can calculate the thrust [5,6,7] to be:
 
     .. math::
 
@@ -56,9 +57,9 @@ class Quadcopter(RotaryWingUAV):
         [3] https://github.com/prfraanje/quadcopter_sim
         [4] https://github.com/ethz-asl/rotors_simulator
 
-        [4] "Propeller Thrust" (NASA): https://www.grc.nasa.gov/WWW/K-12/airplane/propth.html
-        [5] "Static thrust calculation": https://quadcopterproject.wordpress.com/static-thrust-calculation/
-        [6] "Propeller Static & Dynamic Thrust Calculation":
+        [5] "Propeller Thrust" (NASA): https://www.grc.nasa.gov/WWW/K-12/airplane/propth.html
+        [6] "Static thrust calculation": https://quadcopterproject.wordpress.com/static-thrust-calculation/
+        [7] "Propeller Static & Dynamic Thrust Calculation":
             https://www.electricrcaircraftguy.com/2013/09/propeller-static-dynamic-thrust-equation.html
             https://www.electricrcaircraftguy.com/2014/04/propeller-static-dynamic-thrust-equation-background.html
     """
@@ -133,14 +134,13 @@ class Quadcopter(RotaryWingUAV):
         diameter = (4. * area / np.pi)**0.5
         return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2
 
-    def set_joint_velocities(self, velocities, joint_ids=None, max_velocity=True, forces=True):
+    def set_propeller_velocities(self, velocities, max_velocity=True, forces=True):
         """
         Set the joint velocities and apply the thrust force on the propeller link corresponding to the given
         joint id(s).
 
         Args:
-            velocities (float[4]): velocity of each propeller
-            joint_ids (int[4], None): Not used here
+            velocities (np.array[4]): velocity of each propeller
             forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the
                 default maximum force values.
             max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their
@@ -156,7 +156,7 @@ class Quadcopter(RotaryWingUAV):
         joint_ids = self.joints
 
         # call parent method
-        super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, max_velocity, forces)
+        super(Quadcopter, self).set_joint_velocities(velocities, joint_ids, forces, max_velocity)
 
         # calculate thrust force of the given joints, and apply it on the link
         for jnt, d, v in zip(joint_ids, self.turning_directions, velocities):
@@ -165,7 +165,7 @@ class Quadcopter(RotaryWingUAV):
 
             # compute propeller speed v0
             state = self.sim.get_link_state(self.id, jnt, compute_velocity=True)  # , compute_forward_kinematics=True)
-            R = np.array(get_matrix_from_quaternion(state[1]))
+            R = get_matrix_from_quaternion(state[1])
             linear_velocity = np.array(state[-2])
             propeller_up_vec = R.dot(np.array([0., 0., 1.]))
             v0 = linear_velocity.dot(propeller_up_vec)
@@ -176,7 +176,7 @@ class Quadcopter(RotaryWingUAV):
             # f = self.mass * self.gravity / 4.
 
             # apply force in the simulation
-            self.apply_external_force([0, 0, f], jnt, position=(0., 0., 0.))
+            self.apply_external_force(force=[0, 0, f], link_id=jnt, position=(0., 0., 0.))
 
     def get_stationary_joint_velocity(self):
         fg = self.mass * self.gravity / 4.
@@ -217,6 +217,6 @@ if __name__ == "__main__":
 
     # run simulation
     for i in count():
-        robot.set_joint_velocities(v)
+        robot.set_propeller_velocities(v)
         # step in simulation
         world.step(sleep_dt=1./240)

pyrobolearn/robots/robot.py

@@ -2129,9 +2129,15 @@ class Robot(ControllableBody):
 
         # compute and return joint accelerations
         torques = np.array(torques)
+        if not self.fixed_base:  # if floating base
+            torques = np.concatenate((np.zeros(6), torques))
         Hinv = np.linalg.inv(self.get_mass_matrix(q))
         C = self.calculate_inverse_dynamics(np.zeros(len(q)), dq=dq, q=q)
+        if np.any(np.equal(C, None)):
+            C = np.zeros(len(torques))
         acc = Hinv.dot(torques - C)
+        if not self.fixed_base:  # if floating base
+            return acc[6:]
         return acc
 
     def get_mass_matrix(self, q=None, q_idx=None):

pyrobolearn/robots/techpod.py

@@ -0,0 +1,255 @@
+#!/usr/bin/env python
+"""Provide the techpod platform.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.robots.uav import FixedWingUAV
+from pyrobolearn.utils.transformation import get_matrix_from_quaternion
+from pyrobolearn.utils.units import inches_to_meters
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+# TODO: several methods have to be moved in the `uav.py` file.
+class Techpod(FixedWingUAV):
+    r"""Techpod UAV
+
+    Four forces (thrust, lift, drag, and gravity) act on an airplane.
+
+    WARNING: Currently, in pybullet there is no air, so we simulate the lift, thrust, and drag forces. The gravity
+    is carried out by pybullet.
+
+    References:
+        [1] https://github.com/ethz-asl/rotors_simulator
+        [2] "Theory of flight": web.mit.edu/16.00/www/aec/flight.html
+        [3] "NASA: Guided Tours of the BGA": www.grc.nasa.gov/WWW/k-12/airplane/guided.html
+    """
+
+    def __init__(self,
+                 simulator,
+                 position=(0, 0, 0.5),
+                 orientation=(0, 0, 0, 1),
+                 fixed_base=False,
+                 scaling=1.,
+                 urdf=os.path.dirname(__file__) + '/urdfs/techpod/techpod.urdf'):
+        # check parameters
+        if position is None:
+            position = (0., 0., 0.5)
+        if len(position) == 2:  # assume x, y are given
+            position = tuple(position) + (0.5,)
+        if orientation is None:
+            orientation = (0, 0, 0, 1)
+        if fixed_base is None:
+            fixed_base = False
+
+        super(Techpod, self).__init__(simulator, urdf, position, orientation, fixed_base, scaling)
+        self.name = 'techpod'
+
+        # info
+        self.gravity = 9.81
+        self.air_density = 1.225
+
+        # change dynamics
+        self.sim.change_dynamics(body_id=self.id, link_id=0, lateral_friction=0.)
+
+        # from urdf
+        self.radius = 0.15  # 0.14
+        self.diameter = 2. * self.radius
+        self.area = np.pi * self.radius**2
+
+        self.max_velocity = 770  # rad/sec
+
+        # Propeller pitches are around 0.0762m (3 inches) and 0.127m (5 inches)
+        # (from https://www.dronezon.com/learn-about-drones-quadcopters/how-a-quadcopter-works-with-propellers-and\
+        # -motors-direction-design-explained/)
+        # The larger the prop (either increasing diameter, or pitch or both), the more energy it takes to spin it.
+        # When buying propellers, they follow the syntax `LxP` where `L` is the length/diameter of the propeller
+        # (in inches) and `P` is the propeller pitch (also in inches).
+        # 1 inch = 0.0254m --> 0.28m = 11 inches
+        # The value of the pitch below has been set by looking online for quadcopter props with 11 inches of length
+        self.propeller_pitch = inches_to_meters(7)  # 4.7) # inches_to_meters(5.)
+
+        # some constants
+        self.k1 = 1./3.29546
+        self.k2 = 1.5
+
+    def calculate_thrust_force(self, angular_speed, area, propeller_pitch, v0=0, air_density=1.225):
+        r"""
+        Calculate the thrust force generated by the propeller (based on [6]).
+
+        Args:
+            angular_speed (float): angular speed of the propeller [rad/s]. If RPM, convert it to rad/s using the
+                formula :math:`1 RPM = \frac{2\pi}{60} rad/s`.
+            area (float): area of the propeller [m^2]
+            propeller_pitch (float): "distance a propeller would move in 1 revolution if it were moving through a
+                soft solid" [m]
+            air_density (float): density of air [kg/m^3]. By default, it is the density of the air at sea level and at
+                15 degrees Celsius. Note that this varies with the temperature, humidity, and pressure. It decreases
+                with increasing altitude.
+
+        Returns:
+            float: thrust force generated by the propeller [N]
+
+        References:
+            [1] "Thrust Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/thrsteq.html
+            [2] "Propeller Thrust": https://www.grc.nasa.gov/WWW/k-12/airplane/propth.html
+            [3] "Propeller Analysis": https://www.grc.nasa.gov/WWW/k-12/airplane/propanl.html
+        """
+        tmp = angular_speed / (2*np.pi) * propeller_pitch
+        diameter = (4. * area / np.pi)**0.5
+        return air_density * area * (tmp**2 - tmp*v0) * (self.k1 * diameter / propeller_pitch)**self.k2
+
+    def calculate_lift_force(self):
+        r"""
+        Calculate the lift force.
+
+        Returns:
+            float[3]: lift force (in the z direction)
+
+        References:
+            [1] "What is Lift?": https://www.grc.nasa.gov/WWW/k-12/airplane/lift1.html
+            [2] "Lift Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/lifteq.html
+            [3] "Inclination Effects on Lift": https://www.grc.nasa.gov/WWW/k-12/airplane/incline.html
+            [4] https://www.comsol.com/blogs/how-do-i-compute-lift-and-drag/
+        """
+        pass
+
+    def calculate_drag_force(self):
+        r"""
+        Calculate the drag force.
+
+        Returns:
+            float[3]: drag force (in the -x direction)
+
+        References:
+            [1] "What is Drag?": https://www.grc.nasa.gov/WWW/k-12/airplane/drag1.html
+            [2] "Drag Equation": https://www.grc.nasa.gov/WWW/k-12/airplane/drageq.html
+            [3] https://www.comsol.com/blogs/how-do-i-compute-lift-and-drag/
+        """
+        pass
+
+    def calculate_elevator_moment(self):
+        r"""
+        Calculate the moment due to the elevators [1].
+
+        Returns:
+            float[3]: resulting moment in the y direction
+
+        Reference:
+            [1] "Horizontal Stabilizer - Elevator": https://www.grc.nasa.gov/WWW/k-12/airplane/elv.html
+            [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html
+        """
+        pass
+
+    def calculate_aileron_moment(self):
+        """
+        Calculate the moment due to the ailerons that increases/decreases the lift force [1].
+
+        Returns:
+            float[3]: resulting moment in the x direction.
+
+        References:
+            [1] "Ailerons": https://www.grc.nasa.gov/WWW/k-12/airplane/alr.html
+            [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html
+        """
+        pass
+
+    def calculate_flap_moment(self):
+        """
+        Increase lift or drag.
+
+        Returns:
+
+        References:
+            [1] "Flaps and Slats": https://www.grc.nasa.gov/WWW/k-12/airplane/flap.html
+        """
+        pass
+
+    def calculate_rudder_moment(self):
+        """
+        Calculate the moment due to the rudder [1].
+
+        Returns:
+            float[3]: resulting moment (in the z direction)
+
+        Reference:
+            [1] "Vertical Stabilizer - Rudder": https://www.grc.nasa.gov/WWW/k-12/airplane/rud.html
+            [2] "Aircraft Rotations": https://www.grc.nasa.gov/WWW/k-12/airplane/rotations.html
+        """
+        pass
+
+    def set_propeller_velocities(self, velocities, max_velocity=True, forces=True):
+        """
+        Set the joint velocities and apply the thrust force on the propeller link corresponding to the given
+        joint id(s).
+
+        Args:
+            velocities (float[4]): velocity of each propeller
+            forces (float, np.float[N], None, bool): maximum motor torques / forces. If True, it will apply the
+                default maximum force values.
+            max_velocity (float, bool, None): if True, it will make sure that the given velocity(ies) are below their
+                authorized maximum value(s) (inferred from the URDF, or set previously by the user). If you already
+                did the check outside the method or if you don't want limits, set this variable to False.
+
+        Returns:
+            None
+        """
+        joint_id = 7
+        # call parent method
+        super(Techpod, self).set_joint_velocities(velocities, joint_id, forces, max_velocity)
+
+        # calculate thrust force of the given joints, and apply it on the link
+        if max_velocity and velocities > self.max_velocity:
+            velocities = self.max_velocity
+
+        # compute propeller speed v0
+        state = self.sim.get_link_state(self.id, joint_id, compute_velocity=True)  # , compute_forward_kinematics=True)
+        R = get_matrix_from_quaternion(state[1])
+        linear_velocity = np.array(state[-2])
+        propeller_up_vec = R.dot(np.array([0., 1., 0.]))
+        v0 = linear_velocity.dot(propeller_up_vec)
+        # v0 = 0    # static thrust
+
+        # compute thrust
+        f = self.calculate_thrust_force(velocities, self.area, self.propeller_pitch)  # , v0)
+
+        # apply force in the simulation
+        # f = 20
+        self.apply_external_force(force=[0, 0, -f], link_id=joint_id, position=(0., 0., 0.))
+
+    def apply_physics(self):
+        pass
+
+
+# Test
+if __name__ == "__main__":
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.worlds import BasicWorld
+
+    # Create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+
+    # create robot
+    robot = Techpod(sim)
+
+    # print information about the robot
+    robot.print_info()
+
+    # run simulation
+    for i in count():
+        robot.set_propeller_velocities(100)
+        # step in simulation
+        world.step(sleep_dt=1./240)

pyrobolearn/robots/uav.py

@@ -24,12 +24,18 @@ class UAVRobot(Robot):
         super(UAVRobot, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)
 
         self.propellers = []  # list of propellers id
+        self.wings = []  # list of wing id
 
     @property
     def num_propellers(self):
         """Return the number of propellers"""
         return len(self.propellers)
 
+    @property
+    def num_wings(self):
+        """Return the number of wings."""
+        return len(self.wings)
+
 
 class FixedWingUAV(UAVRobot):
     r"""Fixed Wing Robot
@@ -47,3 +53,12 @@ class RotaryWingUAV(UAVRobot):
 
     def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scale=1.):
         super(RotaryWingUAV, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)
+
+
+class FlappingWingUAV(UAVRobot):
+    r"""Flapping Wing Robot
+
+    """
+
+    def __init__(self, simulator, urdf, position=None, orientation=None, fixed_base=False, scale=1.):
+        super(FlappingWingUAV, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)

pyrobolearn/robots/urdfs/blackbird/blackbird_biped.urdf

@@ -0,0 +1,340 @@
+<?xml version="1.0"?>
+<!-- created with Phobos 0.7 -->
+  <robot name="biped">
+      <material name = "black">
+          <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    <link name="l_ab_ad">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.8"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="l_yaw_motor">
+        <origin xyz="0 0 -0.04328" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.009.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="l_yaw_motor">
+          <origin xyz="0 0 -0.04328" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.009.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="l_foot">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.1"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="l_foot_mesh">
+        <origin xyz="0.00032 -0.02422 -0.0314" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.003.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="l_foot_mesh">
+          <origin xyz="0.00032 -0.02422 -0.0314" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.003.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="l_lower">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="1.0"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="l_leg_lower">
+        <origin xyz="0 -0.01638 -0.14422" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.001.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="l_leg_lower">
+          <origin xyz="0 -0.01638 -0.14422" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.001.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="l_upper">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.2"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="l_leg_upper">
+        <origin xyz="0 0.04702 -0.13046" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.005.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="l_leg_upper">
+          <origin xyz="0 0.04702 -0.13046" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.005.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="l_yaw">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2.0"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="l_hip">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.007.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="l_hip">
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.007.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+
+      </collision>
+    </link>
+
+    <link name="r_ab_ad">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.8"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="r_yaw_motor">
+        <origin xyz="0 0 -0.03098" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.010.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="r_yaw_motor">
+          <origin xyz="0 0 -0.03098" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.010.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+
+      </collision>
+    </link>
+
+    <link name="r_foot">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.1"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="r_foot_mesh">
+        <origin xyz="0.00039 -0.02422 -0.0314" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.004.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="r_foot_mesh">
+          <origin xyz="0.00039 -0.02422 -0.0314" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.004.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="r_lower">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="1.0"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="r_leg_lower">
+        <origin xyz="0 -0.01638 -0.14422" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.002.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="r_leg_lower">
+          <origin xyz="0 -0.01638 -0.14422" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.002.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="r_upper">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.2"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="r_leg_upper">
+        <origin xyz="0 0.04702 -0.13046" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.006.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="r_leg_upper">
+          <origin xyz="0 0.04702 -0.13046" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.006.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="r_yaw">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2.0"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="r_hip">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.013.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="r_hip">
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.013.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <link name="torso">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="5.0"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <visual name="torso_mesh">
+        <origin xyz="0 0.07151 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="meshes/V2Mockup.stl" scale="0.1 0.1 0.1"/>
+        </geometry>
+        <material name="black"/>
+
+      </visual>
+      <collision name="torso_mesh">
+          <origin xyz="0 0.07151 0" rpy="0 0 0"/>
+          <geometry>
+              <mesh filename="meshes/V2Mockup.stl" scale="0.1 0.1 0.1"/>
+          </geometry>
+          
+      </collision>
+    </link>
+
+    <joint name="l_ab_ad" type="revolute">
+      <origin xyz="0.15 0 0" rpy="0 0 0"/>
+      <parent link="torso"/>
+      <child link="l_ab_ad"/>
+      <axis xyz="0 -1.0 0"/>
+      <limit lower="-0.17453" upper="1.309" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="l_foot" type="revolute">
+      <origin xyz="0 -0.17 -0.47" rpy="0 0 0"/>
+      <parent link="l_lower"/>
+      <child link="l_foot"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-1.5708" upper="0.69813" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="l_lower" type="revolute">
+      <origin xyz="0 0.17 -0.47" rpy="0 0 0"/>
+      <parent link="l_upper"/>
+      <child link="l_lower"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-2.0944" upper="0.34907" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="l_upper" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="l_yaw"/>
+      <child link="l_upper"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-1.91986" upper="1.22173" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="l_yaw" type="revolute">
+      <origin xyz="0 0 -0.135" rpy="0 0 0"/>
+      <parent link="l_ab_ad"/>
+      <child link="l_yaw"/>
+      <axis xyz="0 0 1.0"/>
+      <limit lower="-0.7854" upper="0.7854" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="r_ab_ad" type="revolute">
+      <origin xyz="-0.15 0 0" rpy="0 0 0"/>
+      <parent link="torso"/>
+      <child link="r_ab_ad"/>
+      <axis xyz="0 -1.0 0"/>
+      <limit lower="-1.309" upper="0.17453" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="r_foot" type="revolute">
+      <origin xyz="0 -0.17 -0.47" rpy="0 0 0"/>
+      <parent link="r_lower"/>
+      <child link="r_foot"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-1.5708" upper="0.69813" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="r_lower" type="revolute">
+      <origin xyz="0 0.17 -0.47" rpy="0 0 0"/>
+      <parent link="r_upper"/>
+      <child link="r_lower"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-2.0944" upper="0.34907" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="r_upper" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="r_yaw"/>
+      <child link="r_upper"/>
+      <axis xyz="1.0 0 0"/>
+      <limit lower="-1.91986" upper="1.22173" effort="0" velocity="0"/>
+    </joint>
+
+    <joint name="r_yaw" type="revolute">
+      <origin xyz="0 0 -0.135" rpy="0 0 0"/>
+      <parent link="r_ab_ad"/>
+      <child link="r_yaw"/>
+      <axis xyz="0 0 1.0"/>
+      <limit lower="-0.7854" upper="0.7854" effort="0" velocity="0"/>
+    </joint>
+
+  </robot>

pyrobolearn/robots/urdfs/ecaa9/meshes/dvl.dae

@@ -0,0 +1,407 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea</authoring_tool>
+    </contributor>
+    <created>2016-02-19T15:58:24</created>
+    <modified>2016-02-19T15:58:24</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="red-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4883965 0.01480018 0.01697521 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="membrane-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.356161 0.04228853 0.0193261 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="red-material" name="red">
+      <instance_effect url="#red-effect"/>
+    </material>
+    <material id="membrane-material" name="membrane">
+      <instance_effect url="#membrane-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cone-mesh" name="Cone">
+      <mesh>
+        <source id="Cone-mesh-positions">
+          <float_array id="Cone-mesh-positions-array" count="192">0 3.975 -0.25 0 2.75 0.25 0.775484 3.898621 -0.25 0.5364984 2.69716 0.25 1.521167 3.672421 -0.25 1.052379 2.540669 0.25 2.208392 3.305092 -0.25 1.527818 2.286541 0.25 2.810749 2.810749 -0.25 1.944544 1.944544 0.25 3.305092 2.208391 -0.25 2.286541 1.527818 0.25 3.672421 1.521167 -0.25 2.540669 1.052379 0.25 3.898621 0.7754842 -0.25 2.69716 0.5364985 0.25 3.975 3.00104e-7 -0.25 2.75 2.07619e-7 0.25 3.898622 -0.7754836 -0.25 2.69716 -0.5364981 0.25 3.672421 -1.521166 -0.25 2.540669 -1.052379 0.25 3.305092 -2.208391 -0.25 2.286541 -1.527818 0.25 2.810749 -2.810749 -0.25 1.944544 -1.944544 0.25 2.208391 -3.305092 -0.25 1.527818 -2.286541 0.25 1.521166 -3.672421 -0.25 1.052379 -2.540669 0.25 0.7754831 -3.898622 -0.25 0.5364977 -2.69716 0.25 -1.29522e-6 -3.975 -0.25 -8.96064e-7 -2.75 0.25 -0.7754856 -3.898621 -0.25 -0.5364995 -2.697159 0.25 -1.521168 -3.67242 -0.25 -1.052381 -2.540668 0.25 -2.208394 -3.30509 -0.25 -1.527819 -2.28654 0.25 -2.810751 -2.810748 -0.25 -1.944545 -1.944542 0.25 -3.305093 -2.208389 -0.25 -2.286542 -1.527817 0.25 -3.672422 -1.521164 -0.25 -2.54067 -1.052377 0.25 -3.898622 -0.7754806 -0.25 -2.69716 -0.5364961 0.25 -3.975 3.83826e-6 -0.25 -2.75 2.6554e-6 0.25 -3.898621 0.7754881 -0.25 -2.697159 0.5365012 0.25 -3.672419 1.521171 -0.25 -2.540668 1.052382 0.25 -3.305089 2.208396 -0.25 -2.28654 1.527821 0.25 -2.810746 2.810753 -0.25 -1.944541 1.944546 0.25 -2.208387 3.305095 -0.25 -1.527815 2.286544 0.25 -1.521161 3.672423 -0.25 -1.052376 2.54067 0.25 -0.7754781 3.898622 -0.25 -0.5364943 2.69716 0.25</float_array>
+          <technique_common>
+            <accessor source="#Cone-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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69 2Line truncated
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+              <param name="Y" type="float"/>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
+        <vertices id="Cylinder_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder_001-mesh-positions"/>
+        </vertices>
+        <polylist material="red-material" count="124">
+          <input semantic="VERTEX" source="#Cylinder_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_001-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Empty_001" name="Empty_001" type="NODE">
+        <matrix sid="transform">-4.37114e-8 0 -1 0 0 1 0 0 1 0 -4.37114e-8 0 0 0 0 1</matrix>
+        <node id="Empty" name="Empty" type="NODE">
+          <matrix sid="transform">0.02539998 0 0 0 0 0.02539998 0 0 0 0 0.02539998 -0.114696 0 0 0 1</matrix>
+          <node id="Cone" name="Cone" type="NODE">
+            <matrix sid="transform">1 0 0 0 0 1 0 0 -3.55271e-15 0 1 7.690001 0 0 0 1</matrix>
+            <instance_geometry url="#Cone-mesh" name="Cone">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="red-material" target="#red-material"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+          <node id="neck" name="neck" type="NODE">
+            <matrix sid="transform">1 0 0 -1.42109e-14 0 1 0 0 -3.55271e-15 0 1 8.44 0 0 0 1</matrix>
+            <instance_geometry url="#Cylinder_002-mesh" name="neck">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="red-material" target="#red-material"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+          <node id="main" name="main" type="NODE">
+            <matrix sid="transform">1 0 0 -7.99361e-15 0 1 0 0 -3.55271e-15 0 1 4.79 0 0 0 1</matrix>
+            <instance_geometry url="#Cylinder_003-mesh" name="main">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="red-material" target="#red-material"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+          <node id="head" name="head" type="NODE">
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+            <instance_geometry url="#Cylinder_004-mesh" name="head">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="red-material" target="#red-material"/>
+                  <instance_material symbol="membrane-material" target="#membrane-material"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+          <node id="base" name="base" type="NODE">
+            <matrix sid="transform">1 0 0 -1.42109e-14 0 1 0 0 -3.55271e-15 0 5.166667 9.25 0 0 0 1</matrix>
+            <instance_geometry url="#Cylinder_001-mesh" name="base">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="red-material" target="#red-material"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9_fin.dae

@@ -0,0 +1,198 @@
+<?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 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
+    <created>2017-10-16T17:44:03</created>
+    <modified>2017-10-16T17:44:03</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">49.13434</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>
+          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</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">8192</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">1</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>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <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">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <filtertype sid="filtertype" type="int">0</filtertype>
+          <bufflag sid="bufflag" type="int">0</bufflag>
+          <buftype sid="buftype" type="int">2</buftype>
+          <ray_samp sid="ray_samp" type="int">1</ray_samp>
+          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+          <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>
+          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+          <spread sid="spread" type="float">1</spread>
+          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
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+          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
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+          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+          <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
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+            <ambient>
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+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
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+        </technique>
+      </profile_COMMON>
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+  </library_effects>
+  <library_materials>
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+  </library_materials>
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+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/ecaa9/meshes/eca_a9_propeller.dae

@@ -0,0 +1,293 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
+    <created>2017-10-16T17:30:11</created>
+    <modified>2017-10-16T17:30:11</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+        </technique_common>
+      </optics>
+      <extra>
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+          <shifty sid="shifty" type="float">0</shifty>
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+    <camera id="Camera_001-camera" name="Camera.001">
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+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+        </technique_common>
+      </optics>
+      <extra>
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+          <shifty sid="shifty" type="float">0</shifty>
+          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
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+      </extra>
+    </camera>
+  </library_cameras>
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+          <constant_attenuation>1</constant_attenuation>
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+        </instance_geometry>
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+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/ecaa9/meshes/oe14-372.dae

@@ -0,0 +1,403 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-09-13T12:36:39</created>
+    <modified>2016-09-13T12:36:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
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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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+      <extra>
+        <technique profile="blender">
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+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
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+          <buftype>2</buftype>
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+        <matrix sid="transform">-4.37114e-8 0 1 -0.06 0 1 0 0 -1 0 -4.37114e-8 0 0 0 0 1</matrix>
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+          </instance_geometry>
+        </node>
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+                <instance_material symbol="Material-material" target="#Material-material"/>
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+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0.065 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_004-mesh" name="carver">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="silver-material" target="#silver-material"/>
+              </technique_common>
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+        </node>
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+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0.04 0 0 0 1</matrix>
+          <instance_geometry url="#Cone-mesh" name="Cone">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="Material-material" target="#Material-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/ecaa9/meshes/pressure.dae

@@ -0,0 +1,406 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea</authoring_tool>
+    </contributor>
+    <created>2016-02-29T12:24:33</created>
+    <modified>2016-02-29T12:24:33</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
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+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
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+          <shadow_g sid="blender_shadow_g">0</shadow_g>
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+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
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+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
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+            </index_of_refraction>
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+        </technique>
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+    </effect>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
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+            <diffuse>
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+              <color sid="specular">0.5 0.5 0.5 1</color>
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+  </library_effects>
+  <library_materials>
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+          <p>1 0 3 0 2 0 3 1 5 1 4 1 5 2 7 2 6 2 7 3 9 3 8 3 9 4 11 4 10 4 11 5 13 5 12 5 13 6 15 6 14 6 15 7 17 7 16 7 17 8 19 8 18 8 19 9 21 9 20 9 21 10 23 10 22 10 23 11 25 11 24 11 25 12 27 12 26 12 27 13 29 13 28 13 29 14 31 14 30 14 31 15 33 15 32 15 33 16 35 16 34 16 35 17 37 17 36 17 37 18 39 18 38 18 39 19 41 19 40 19 41 20 43 20 42 20 43 21 45 21 44 21 45 22 47 22 46 22 47 23 49 23 48 23 49 24 51 24 50 24 51 25 53 25 52 25 53 26 55 26 54 26 55 27 57 27 56 27 57 28 59 28 58 28 59 29 61 29 60 29 37 30 21 30 53 30 63 31 1 31 0 31 61 32 63 32 62 32 30 33 46 33 62 33 0 0 1 0 2 0 2 34 3 34 4 34 4 35 5 35 6 35 6 36 7 36 8 36 8 37 9 37 10 37 10 38 11 38 12 38 12 39 13 39 14 39 14 40 15 40 16 40 16 8 17 8 18 8 18 41 19 41 20 41 20 10 21 10 22 10 22 42 23 42 24 42 24 12 25 12 26 12 26 13 27 13 28 13 28 43 29 43 30 43 30 15 31 15 32 15 32 44 33 44 34 44 34 45 35 45 36 45 36 46 37 46 38 46 38 47 39 47 40 47 40 48 41 48 42 48 42 49 43 49 44 49 44 22 45 22 46 22 46 23 47 23 48 23 48 50 49 50 50 50 50 25 51 25 52 25 52 26 53 26 54 26 54 27 55 27 56 27 56 51 57 51 58 51 58 52 59 52 60 52 5 53 3 53 1 53 1 54 63 54 5 54 61 54 59 54 53 54 57 54 55 54 53 54 53 55 51 55 49 55 49 54 47 54 53 54 45 56 43 56 41 56 41 54 39 54 45 54 37 57 35 57 33 57 33 54 31 54 37 54 29 58 27 58 21 58 25 54 23 54 21 54 21 54 19 54 17 54 17 59 15 59 21 59 13 60 11 60 9 60 9 54 7 54 13 54 5 54 63 54 61 54 59 54 57 54 53 54 53 61 47 61 45 61 45 62 39 62 37 62 37 54 31 54 29 54 27 63 25 63 21 63 21 64 15 64 13 64 13 54 7 54 5 54 5 54 61 54 53 54 53 54 45 54 37 54 37 54 29 54 21 54 21 65 13 65 5 65 5 54 53 54 21 54 62 31 63 31 0 31 60 32 61 32 62 32 62 66 0 66 2 66 2 67 4 67 6 67 6 68 8 68 10 68 10 68 12 68 6 68 14 68 16 68 18 68 18 69 20 69 14 69 22 68 24 68 26 68 26 67 28 67 30 67 30 70 32 70 34 70 34 68 36 68 38 68 38 71 40 71 42 71 42 68 44 68 46 68 46 72 48 72 50 72 50 68 52 68 46 68 54 73 56 73 58 73 58 68 60 68 54 68 62 74 2 74 6 74 6 75 12 75 14 75 14 76 20 76 22 76 22 77 26 77 30 77 30 68 34 68 38 68 38 78 42 78 46 78 46 68 52 68 54 68 54 79 60 79 62 79 62 80 6 80 14 80 14 68 22 68 62 68 30 68 38 68 46 68 46 81 54 81 62 81 62 68 22 68 30 68</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="scale" name="scale" type="NODE">
+        <matrix sid="transform">0.1 0 0 0 0 0.1 0 0 0 0 0.1 0 0 0 0 1</matrix>
+        <node id="Cylinder" name="Cylinder" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -0.475 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_005-mesh" name="Cylinder">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="silver-material" target="#silver-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="Cylinder_001" name="Cylinder_001" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9419355 0.15 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_001-mesh" name="Cylinder_001">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="silver-material" target="#silver-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="Cylinder_002" name="Cylinder_002" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -0.775 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_002-mesh" name="Cylinder_002">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="black-material" target="#black-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="Cylinder_005" name="Cylinder_005" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0.625 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_007-mesh" name="Cylinder_005">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="silver-material" target="#silver-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+        <node id="Cylinder_004" name="Cylinder_004" type="NODE">
+          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0.825 0 0 0 1</matrix>
+          <instance_geometry url="#Cylinder_006-mesh" name="Cylinder_004">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="black-material" target="#black-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/flappy/LICENSE

@@ -0,0 +1,8 @@
+MIT License
+
+Copyright (c) 2019, Fan Fei
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ""Software""), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED *AS IS*, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+

pyrobolearn/robots/urdfs/flappy/config/mav_config.json

@@ -0,0 +1,104 @@
+[
+	{
+		"id": 						0,
+		"name":						"flapper_sc_nominal",
+		"urdf_file":				"flappy/urdf/fwmav/flapper_sc_nominal.urdf",
+		"frequency": 				34,
+		"wing_length": 				0.07,
+		"mean_chord": 				0.021212121212121,
+		"r33":						0.205833311654341,
+		"r22":						0.284203623407408,
+		"r11":						0.450820740740741,
+		"r00":						0.999407407407407,
+		"z_cp2":					0.246352600140835,
+		"z_cp1":					0.415846717980795,
+		"z_cp0":					1.028078968449933,
+		"z_rd":						1.174547978303502,
+		"left_shoulder_width":		13.95E-3,
+		"right_shoulder_width":		13.95E-3,
+		"stroke_plane_offset":		18.9913E-3,
+		"left_spring_stiffness":	0.013384289,
+		"right_spring_stiffness":	0.013384289,
+		"left_stroke_lower":		-1.63,
+		"left_stroke_upper":		1.63,
+		"left_rotate_lower":		-0.7854,
+		"left_rotate_upper":		0.7854,
+		"right_stroke_lower":		-1.63,
+		"right_stroke_upper":		1.63,
+		"right_rotate_lower":		-0.7854,
+		"right_rotate_upper":		0.7854,
+		"left_stroke_mid":			0.0,
+		"right_stroke_mid":			0.0,
+		"left_motor_properties":
+		{
+			"resistance":				12.4,
+			"torque_constant": 			1.75e-3,
+			"gear_ratio":				10,
+			"mechanical_efficiency":	0.9,
+			"friction_coefficient":		2e-5,
+			"damping_coefficient":		9.74e-9,
+			"inertia":					7.03e-10
+		},
+		"right_motor_properties":
+		{
+			"resistance":				12.4,
+			"torque_constant": 			1.75e-3,
+			"gear_ratio":				10,
+			"mechanical_efficiency":	0.9,
+			"friction_coefficient":		2e-5,
+			"damping_coefficient":		9.74e-9,
+			"inertia":					7.03e-10
+		}
+	},
+	{
+		"id": 						1,
+		"name":						"flapper_sc_trim",
+		"urdf_file":				"flappy/urdf/fwmav/flapper_sc_nominal.urdf",
+		"frequency": 				34,
+		"wing_length": 				0.07,
+		"mean_chord": 				0.021212121212121,
+		"r33":						0.205833311654341,
+		"r22":						0.284203623407408,
+		"r11":						0.450820740740741,
+		"r00":						0.999407407407407,
+		"z_cp2":					0.246352600140835,
+		"z_cp1":					0.415846717980795,
+		"z_cp0":					1.028078968449933,
+		"z_rd":						1.174547978303502,
+		"left_shoulder_width":		13.95E-3,
+		"right_shoulder_width":		13.95E-3,
+		"stroke_plane_offset":		18.9913E-3,
+		"left_spring_stiffness":	0.0133599752,
+		"right_spring_stiffness":	0.0133000000,
+		"left_stroke_lower":		-1.63,
+		"left_stroke_upper":		1.63,
+		"left_rotate_lower":		-0.844856704,
+		"left_rotate_upper":		0.765164977,
+		"right_stroke_lower":		-1.63,
+		"right_stroke_upper":		1.63,
+		"right_rotate_lower":		-0.854799666,
+		"right_rotate_upper":		0.814000120,
+		"left_stroke_mid":			0.0403463879,
+		"right_stroke_mid":			0.0319281979,
+		"left_motor_properties":
+		{
+			"resistance":				14.780065776,
+			"torque_constant": 			1.75e-3,
+			"gear_ratio":				10,
+			"mechanical_efficiency":	0.9,
+			"friction_coefficient":		2e-5,
+			"damping_coefficient":		9.74e-9,
+			"inertia":					7.03e-10
+		},
+		"right_motor_properties":
+		{
+			"resistance":				13.763265084,
+			"torque_constant": 			1.75e-3,
+			"gear_ratio":				10,
+			"mechanical_efficiency":	0.9,
+			"friction_coefficient":		2e-5,
+			"damping_coefficient":		9.74e-9,
+			"inertia":					7.03e-10
+		}
+	}
+]

pyrobolearn/robots/urdfs/flappy/config/sim_config.json

@@ -0,0 +1,9 @@
+{
+	"f_sim"		: 1e4,
+	"f_driver"	: 1e3,
+	"f_sensor"	: 500,
+	"f_control"	: 500,
+	"f_imu"		: 1000,
+	"f_vicon"	: 200,
+	"f_visual"	: 24
+}

pyrobolearn/robots/urdfs/flappy/flappy.urdf

@@ -0,0 +1,186 @@
+<?xml version="1.0" ?>
+<!--**********************  FWMAV Simulation  *************************
+# Version 0.3
+# Fan Fei		Feb 2019
+# Direct motor driven flapping wing MAV simulation
+********************************************************************-->
+<robot name="flapper_sc">
+
+	<material name = "flapper/black">
+		<color rgba = "0 0 0 1"/>
+	</material>
+
+	<material name = "flapper/blue">
+		<color rgba = "0.0 0.0 1.0 1"/>
+	</material>
+
+	<material name = "flapper/red">
+		<color rgba = "1.0 0.0 0.0 1"/>
+	</material>
+
+	<!--link name = "world"/>
+	<joint name = "torso_to_world" type="floating">
+		<parent link = "world"/>
+		<child link = "torso"/>
+		<origin xyz = "0 0 0" rpy = "0 0 0"/>
+	</joint-->
+
+	<link name = "torso">
+		<inertial>
+			<origin xyz = "0.1797E-3 0.0008E-3 -1.3998E-3" rpy = "0 0 0"/>
+			<mass value = "10.9067E-3"/>
+			<inertia
+				ixx = "4238.1285E-9"
+				iyy = "3970.1646E-9"
+				izz = "2440.9505E-9"
+				ixy = "-76.8896E-9"
+				iyz = "0.3011E-9"
+				ixz = "16.5500E-9"/>
+		</inertial>
+		<visual>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/torso_small_base.STL"/>
+			</geometry>
+			<material name = "flapper/black"/>
+		</visual>
+		<collision>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/torso_small_base.STL"/>
+			</geometry>
+		</collision>
+	</link>
+
+	<link name = "left_wing">
+		<inertial>
+			<origin xyz = "0.0024E-3 37.3242E-3 -9.8917E-3" rpy = "0 0 0"/>
+			<mass value = "0.0626E-3"/>
+			<inertia
+				ixx = "21.4402E-9"
+				iyy = "2.2204E-9"
+				izz = "19.2209E-9"
+				ixy = "-0.0000E-9"
+				iyz = "0.1968E-9"
+				ixz = "-0.0001E-9"/>
+		</inertial>
+		<visual>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/Wing_Camber_70mm_C35mm_no_trailing_L.STL"/>
+			</geometry>
+			<material name = "flapper/blue"/>
+		</visual>
+		<collision>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/Wing_Camber_70mm_C35mm_no_trailing_L.STL"/>
+			</geometry>
+		</collision>
+	</link>
+
+	<link name = "right_wing">
+		<inertial>
+			<origin xyz = "-0.0024E-3 -37.3242E-3 -9.8917E-3" rpy = "0 0 0"/>
+			<mass value = "0.0626E-3"/>
+			<inertia
+				ixx = "21.4402E-9"
+				iyy = "2.2204E-9"
+				izz = "19.2209E-9"
+				ixy = "-0.0000E-9"
+				iyz = "-0.1968E-9"
+				ixz = "0.0001E-9"/>
+		</inertial>
+		<visual>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/right_wing.STL"/>
+			</geometry>
+			<material name = "flapper/red"/>
+		</visual>
+		<collision>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/right_wing.STL"/>
+			</geometry>
+		</collision>
+	</link>
+
+	<link name="left_leading_edge">
+		<inertial>
+			<origin xyz = "-0.2837E-3 3.3023E-3 -6.3984E-3" rpy = "0 0 0"/>
+			<mass value = "0.7081E-3"/>
+			<inertia
+				ixx = "132.8411E-9"
+				iyy = "47.7258E-9"
+				izz = "90.6904E-9"
+				ixy = "-0.0416E-9"
+				iyz = "12.5149E-9"
+				ixz = "-0.4990E-9"/>
+		</inertial>
+		<visual>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/left_LE.STL"/>
+			</geometry>
+			<material name = "flapper/blue"/>
+		</visual>
+	</link>
+
+	<link name="right_leading_edge">
+		<inertial>
+			<origin xyz = "-0.2837E-3 -3.3023E-3 -6.3984E-3" rpy = "0 0 0"/>
+			<mass value = "0.7081E-3"/>
+			<inertia
+				ixx = "132.8411E-9"
+				iyy = "47.7258E-9"
+				izz = "90.6904E-9"
+				ixy = "0.0416E-9"
+				iyz = "-12.5149E-9"
+				ixz = "-0.4990E-9"/>
+		</inertial>
+		<visual>
+			<origin xyz = "0 0 0" rpy = "0 0 0"/>
+			<geometry>
+				<mesh filename = "meshes/right_LE.STL"/>
+			</geometry>
+			<material name = "flapper/red"/>
+		</visual>
+	</link>
+
+	<joint name = "left_stroke" type = "revolute">
+		<parent link = "torso"/>
+		<child link = "left_leading_edge"/>
+		<origin xyz = "0 13.95E-3 18.9913E-3" rpy = "0 0 0"/>
+		<axis xyz = "0 0 1"/>
+		<dynamics friction = "1E-9" damping = "8E-9"/>
+		<limit lower = "-1.63" upper = "1.63" effort = "0.02" velocity = "400"/>
+	</joint>
+
+	<joint name = "left_rotate" type = "revolute">
+		<parent link = "left_leading_edge"/>
+		<child link = "left_wing"/>
+		<origin xyz = "0 0 0" rpy = "0 0 0"/>
+		<axis xyz = "0 1 0"/>
+		<dynamics friction = "1E-8" damping = "1E-9"/>
+		<limit lower = "-0.7854" upper = "0.7854" effort = "0.02" velocity = "2000"/>
+	</joint>
+
+	<joint name = "right_stroke" type = "revolute">
+		<parent link = "torso"/>
+		<child link = "right_leading_edge"/>
+		<origin xyz = "0 -13.95E-3 18.9913E-3" rpy = "0 0 0"/>
+		<axis xyz = "0 0 -1"/>
+		<dynamics friction = "1E-9" damping = "8E-9"/>
+		<limit lower = "-1.63" upper = "1.63" effort = "0.02" velocity = "400"/>
+	</joint>
+
+	<joint name = "right_rotate" type = "revolute">
+		<parent link = "right_leading_edge"/>
+		<child link = "right_wing"/>
+		<origin xyz = "0 0 0" rpy = "0 0 0"/>
+		<axis xyz = "0 1 0"/>
+		<dynamics friction = "1E-8" damping = "1E-9"/>
+		<limit lower = "-0.7854" upper = "0.7854" effort = "0.02" velocity = "2000"/>
+	</joint>
+</robot>

pyrobolearn/robots/urdfs/techpod/LICENSE

@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
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+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
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+      Licensor for the purpose of discussing and improving the Work, but
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+      designated in writing by the copyright owner as "Not a Contribution."
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
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+   END OF TERMS AND CONDITIONS

pyrobolearn/robots/urdfs/techpod/meshes/propeller_cw.dae

@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fr. Dez 19 16:04:46 2014</created>
+        <modified>Fr. Dez 19 16:04:46 2014</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="300">-0.0835714 0.140031 -0.0736456 -0.0400765 0.163115 -0.0483281 -0.117913 0.305442 -0.144312 -0.0703607 0.798102 -0.0199993 -0.0560492 0.545571 -0.0512484 -0.00078476 0.975427 0.00767503 0.0160651 0.594631 -0.00720468 0.0298948 0.965824 0.00334253 0.00751962 0.685387 0.000359752 0.0540712 0.429634 -0.0101518 0.0151478 0.102216 -0.0131658 -0.0556911 -0.0661715 -0.00963317 -0.00174063 -0.0818349 -0.00868353 0.0559242 -0.0649661 -0.00957289 0.0703602 -0.798109 -0.0199979 0.0560498 -0.54557 -0.0512488 0.0750017 -0.975039 -0.00934454 0.000782845 -0.975427 0.00767481 -0.01485 -0.614361 -0.00403874 -0.0298926 -0.965824 0.00334368 -0.0548356 -0.290864 -0.0115746 0.0115154 -0.203636 -0.0264133 0.118578 -0.302999 -0.139409 -0.0121224 -0.120255 -0.0720243 0.0226319 -0.110745 -0.133017 -0.00674525 0.0938006 -0.100237 -0.0231875 -0.121853 -0.0140071 -0.0227039 -0.852975 0.00390995 0.0723746 -0.204958 -0.0813719 0.0406506 -0.549299 -0.0369143 -0.0549052 -0.803689 -0.00777506 -0.0303961 -0.366957 -0.0129591 0.00129643 -0.676714 -0.0029672 0.0229853 0.118236 -0.0121112 -0.0122597 0.134668 -0.0463299 -0.00497452 0.0848861 -0.010146 -0.026551 0.101783 -0.0245763 0.0142935 0.08864 -0.0122476 0.00830604 -0.0268358 -0.0117744 0.00449618 -0.0836288 -0.0193353 0.022756 -0.115931 -0.0296084 -0.00274884 0.0269521 -0.0451194 0.0193773 0.0148156 -0.0105058 -0.0177061 -0.00590916 -0.0110817 -0.00867444 -0.0773042 -0.00921494 -0.0148637 -0.0936643 -0.0989573 -0.00392095 0.206809 -0.0239818 -0.0750017 0.975039 -0.00934454 0.0227405 0.85053 0.00378915 0.0574457 0.791463 -0.00951397 0.000301326 0.377456 -0.019279 -0.025568 0.993204 0.00603233 0.0165912 0.104876 -0.0548642 0.0173898 0.0893329 -0.135902 -0.07848 0.839861 -0.0171015 -0.0410062 0.563133 -0.0362053 -0.104112 0.546217 -0.0949896 0.053552 0.950918 -0.00758994 0.00787323 0.603278 -0.00724069 -0.11474 0.256342 -0.121651 -0.118667 0.439386 -0.118333 0.0562149 0.618315 0.000361391 0.0297782 0.463137 -0.00252085 0.0303766 0.95587 0.0126425 0.0573177 0.951992 -4.06283e-05 0.0582776 0.0699707 -0.000511708 -0.0558582 0.066586 -0.00972389 -0.118004 0.364506 -0.138633 -0.0937259 0.247795 -0.109201 -0.0129714 -0.0875212 -0.000267106 -0.0142037 0.0889641 -0.00118289 -0.058478 0.0641806 -4.29309e-06 0.0787758 -0.813625 -0.0191612 0.118975 -0.372814 -0.139636 0.0368024 -0.992893 0.0026906 -0.0533484 -0.950983 -0.00752904 0.083117 -0.138354 -0.0731762 0.0818296 -0.808715 -0.0116048 -0.0573177 -0.951992 -4.06283e-05 -0.0298975 -0.956894 0.0126223 0.0582653 -0.0732486 -0.00292781 0.112117 -0.483966 -0.11112 -0.0583462 -0.188043 -0.00926188 -0.0578409 -0.0756444 -0.000201417 0.0103472 -0.4132 -0.014694 0.0408722 -1.00118 0.0125076 0.118766 -0.442389 -0.115879 0.0609817 -0.51919 -0.0445129 0.123134 -0.278077 -0.131944 0.0370371 -0.13461 -0.0302756 -0.0511726 -0.503887 -0.000242579 -0.00561221 -0.652544 0.00854968 0.00138781 -0.137464 -0.0204127 0.00564852 0.249971 -0.0118047 0.00393641 0.767754 0.0145574 -0.0408722 1.00118 0.0125076 -0.0603939 0.509636 -0.0446996 -0.0514677 0.26177 -0.0479069 -0.0805473 0.828811 -0.0103958 0.0161138 -0.103875 -0.0375713</float_array>
+                    <technique_common>
+                        <accessor count="100" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
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0.0901806 Line truncated
+                    <technique_common>
+                        <accessor count="199" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="199">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_aileron_left.dae

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-12T19:14:19</created>
+    <modified>2016-07-12T19:14:19</modified>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Left_Aileron" name="Left_Aileron" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Left_Aileron-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_aileron_right.dae

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-12T18:21:31</created>
+    <modified>2016-07-12T18:21:31</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Right_Aileron-mesh" name="Right Aileron">
+      <mesh>
+        <source id="Right_Aileron-mesh-positions">
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Right_Aileron" name="Right_Aileron" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Right_Aileron-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_body.dae

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-20T13:51:11</created>
+    <modified>2016-07-20T13:51:11</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
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+        <vertices id="Techpod_No_Flaps_Stl-mesh-vertices">
+          <input semantic="POSITION" source="#Techpod_No_Flaps_Stl-mesh-positions"/>
+        </vertices>
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+        </lines>
+        <polylist count="78452">
+          <input semantic="VERTEX" source="#Techpod_No_Flaps_Stl-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Techpod_No_Flaps_Stl-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Techpod_No_Flaps_Stl" name="Techpod_No_Flaps_Stl" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Techpod_No_Flaps_Stl-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_elevator.dae

@@ -0,0 +1,163 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-12T16:57:25</created>
+    <modified>2016-07-12T16:57:25</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Elevator-mesh" name="Elevator">
+      <mesh>
+        <source id="Elevator-mesh-positions">
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+  <library_controllers/>
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+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Elevator" name="Elevator" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Elevator-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_flap_left.dae

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-20T14:24:47</created>
+    <modified>2016-07-20T14:24:47</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
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242Line truncated
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Left_Flap" name="Left_Flap" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Left_Flap-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_flap_right.dae

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-20T14:43:42</created>
+    <modified>2016-07-20T14:43:42</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Right_Flap-mesh" name="Right Flap">
+      <mesh>
+        <source id="Right_Flap-mesh-positions">
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+          <technique_common>
+            <accessor source="#Right_Flap-mesh-normals-array" count="312" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Right_Flap-mesh-vertices">
+          <input semantic="POSITION" source="#Right_Flap-mesh-positions"/>
+        </vertices>
+        <lines count="10">
+          <input semantic="VERTEX" source="#Right_Flap-mesh-vertices" offset="0"/>
+          <p>8 7 35 23 34 33 36 0 18 7 91 90 118 106 117 116 119 83 101 90</p>
+        </lines>
+        <polylist count="312">
+          <input semantic="VERTEX" source="#Right_Flap-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Right_Flap-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" 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="#Lamp-light"/>
+      </node>
+      <node id="Right_Flap" name="Right_Flap" type="NODE">
+        <matrix sid="transform">-6.39758e-10 -0.001 0 0 0.001 -6.39758e-10 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Right_Flap-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

pyrobolearn/robots/urdfs/techpod/meshes/techpod/techpod_rudder.dae

@@ -0,0 +1,163 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Original CAD work - Wayne Garris</author>
+    </contributor>
+    <contributor>
+      <author>Pavel Vechersky</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2016-07-12T19:59:39</created>
+    <modified>2016-07-12T19:59:39</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">49.13434</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">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Rudder-mesh" name="Rudder">
+      <mesh>
+        <source id="Rudder-mesh-positions">
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pyrobolearn/robots/urdfs/techpod/techpod.urdf

@@ -0,0 +1,303 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from techpod.xacro                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+  Copyright 2016 Pavel Vechersky, ASL, ETH Zurich, Switzerland
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+  http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+<robot name="techpod" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.9 0.9 0.9 1"/>
+  </material>
+  <material name="dark_gray">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="gray">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="light_gray">
+    <color rgba="0.7 0.7 0.7 1"/>
+  </material>
+  <material name="pure_red">
+    <color rgba="1.0 0.0 0.0 1"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.1 0.1 1"/>
+  </material>
+  <material name="pure_green">
+    <color rgba="0.0 1.0 0.0 1"/>
+  </material>
+  <material name="pure_blue">
+    <color rgba="0.0 0.0 1.0 1"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.2 0.8 1"/>
+  </material>
+
+  <!-- [kg] -->
+  <link name="ns/base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-12" ixy="0.0" ixz="0.0" iyy="1e-12" iyz="0.0" izz="1e-12"/>
+    </inertial>
+  </link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
+  <joint name="ns/base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/base_link_inertia"/>
+  </joint>
+  <link name="ns/base_link_inertia">
+    <inertial>
+      <mass value="2.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.16632" ixy="0.0" ixz="0.0755" iyy="0.3899" iyz="0.0" izz="0.5243"/>
+    </inertial>
+    <visual>
+      <material name="white"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_body.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="1.088 2.591 0.303"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/base_link">
+    <material>Gazebo/Gray</material>
+  </gazebo>
+  <!-- Attach fw_dynamics to the base_link -->
+  <gazebo>
+    <plugin filename="librotors_gazebo_fw_dynamics_plugin.so" name="fw_dynamics_plugin">
+      <robotNamespace>ns</robotNamespace>
+      <linkName>ns/base_link</linkName>
+      <aeroParamsYAML>aero_params</aeroParamsYAML>
+      <vehicleParamsYAML>vehicle_params</vehicleParamsYAML>
+      <isInputJoystick>true</isInputJoystick>
+    </plugin>
+  </gazebo>
+  <joint name="ns/aileron_left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1095 0.99245 0.115"/>
+    <axis xyz="0 -1 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/aileron_left"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/aileron_left">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.0010164162601" ixy="0.0" ixz="0.0" iyy="2.481665674e-05" iyz="0.0" izz="0.0010384162513"/>
+    </inertial>
+    <visual>
+      <material name="red"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_aileron_left.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_aileron_left.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/aileron_left">
+    <material>Gazebo/Red</material>
+  </gazebo>
+  <joint name="ns/aileron_right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1095 -0.99245 0.115"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/aileron_right"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/aileron_right">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.0010164162601" ixy="0.0" ixz="0.0" iyy="2.481665674e-05" iyz="0.0" izz="0.0010384162513"/>
+    </inertial>
+    <visual>
+      <material name="blue"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_aileron_right.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_aileron_right.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/aileron_right">
+    <material>Gazebo/Red</material>
+  </gazebo>
+  <joint name="ns/elevator_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.555 0 0.26"/>
+    <axis xyz="0 -1 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/elevator"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/elevator">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00174160763669" ixy="0.0" ixz="0.0" iyy="2.287499085e-05" iyz="0.0" izz="0.0017620826285"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_elevator.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_elevator.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/elevator">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <joint name="ns/flap_left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.101 0.382 0.1185"/>
+    <axis xyz="0 -1 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/flap_left"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/flap_left">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00175780763021" ixy="0.0" ixz="0.0" iyy="5.026664656e-05" iyz="0.0" izz="0.00180380761181"/>
+    </inertial>
+    <visual>
+      <material name="red"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_flap_left.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_flap_left.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/flap_left">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+  <joint name="ns/flap_right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.101 -0.382 0.1185"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/flap_right"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/flap_right">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00175780763021" ixy="0.0" ixz="0.0" iyy="5.026664656e-05" iyz="0.0" izz="0.00180380761181"/>
+    </inertial>
+    <visual>
+      <material name="blue"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_flap_right.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_flap_right.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/flap_right">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+  <joint name="ns/rudder_joint" type="revolute">
+    <origin rpy="0 -0.25 0" xyz="-0.428 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/rudder"/>
+    <limit effort="0" lower="0" upper="0" velocity="0"/>
+  </joint>
+  <link name="ns/rudder">
+    <inertial>
+      <origin rpy="0 0.25 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00048670813865" ixy="0.0" ixz="0.0" iyy="0.00062268308426" iyz="0.0" izz="0.00014137494345"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0.25 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_rudder.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0.25 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/techpod/techpod_rudder.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/rudder">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <joint name="ns/propeller_{suffix}_joint" type="continuous">
+    <origin rpy="0 -1.57079632679 0" xyz="-0.025 0 0.15"/>
+    <axis xyz="0 0 1"/>
+    <parent link="ns/base_link"/>
+    <child link="ns/propeller_"/>
+  </joint>
+  <link name="ns/propeller_">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0025007489997" ixy="0.0" ixz="0.0" iyy="0.0025007489997" iyz="0.0" izz="0.005"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/propeller_cw.dae" scale="0.1 0.1 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/propeller_cw.dae" scale="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="ns/propeller_">
+    <material>Gazebo/Gray</material>
+  </gazebo>
+</robot>
+

pyrobolearn/simulators/bullet.py

@@ -1389,7 +1389,8 @@ class Bullet(Simulator):
                     position = self.get_link_state(body_id, link_id)[0]
             else:  # local frame
                 position = (0., 0., 0.)
-        self.sim.applyExternalForce(body_id, link_id, force, position, frame)
+        self.sim.applyExternalForce(objectUniqueId=body_id, linkIndex=link_id, forceObj=force, posObj=position,
+                                    flags=frame)
 
     def apply_external_torque(self, body_id, link_id=-1, torque=(0., 0., 0.), frame=Simulator.LINK_FRAME):
         """
@@ -1405,7 +1406,7 @@ class Bullet(Simulator):
             frame (int): Specify the coordinate system of force/position: either `pybullet.WORLD_FRAME` (=2) for
                 Cartesian world coordinates or `pybullet.LINK_FRAME` (=1) for local link coordinates.
         """
-        self.sim.applyExternalTorque(body_id, link_id, torque)
+        self.sim.applyExternalTorque(objectUniqueId=body_id, linkIndex=link_id, torqueObj=torque, flags=frame)
 
     ###################
     # transformations #