From 84522403dac5037bb87ee6282ce64b9c6e400993 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 17 Feb 2022 04:18:00 -0500
Subject: [PATCH 1/3] add new models from Ignition Fuel

---
 .../worlds/dave_ocean_models.world            | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 98fc34fa..7ff48008 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -168,5 +168,25 @@
       <uri>model://uxo_c</uri>
     </include>
 
+    <include>
+      <pose>13 -7 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
+    </include>
+
+    <include>
+      <pose>13 -8 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
+    </include>
+
+    <include>
+      <pose>13 -9 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri>
+    </include>
+
+    <include>
+      <pose>13 -10 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+    </include>
+
   </world>
 </sdf>

From 19dd8c09ebbc137f9ad53fc7e92ee2183d0b75bd Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Sat, 19 Feb 2022 02:31:45 -0500
Subject: [PATCH 2/3] add Sunken Ship

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 models/dave_worlds/worlds/dave_ocean_models.world | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 7ff48008..c3210d1d 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -173,10 +173,11 @@
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
     </include>
 
-    <include>
+    <!-- Pending model fix upstream -->
+    <!--include>
       <pose>13 -8 -94 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
-    </include>
+    </include-->
 
     <include>
       <pose>13 -9 -94 0 0 0</pose>
@@ -188,5 +189,10 @@
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
     </include>
 
+    <include>
+      <pose>35 -10 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
+    </include>
+
   </world>
 </sdf>

From 517afd4f3229fa4e5f9ccfb0b90c6abc9f72940a Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Sat, 19 Feb 2022 05:29:06 -0500
Subject: [PATCH 3/3] add inertial values for Sunken Vase and Niskin

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 .../models/niskin/model.config                |  9 +++
 .../models/niskin/model.sdf                   | 55 +++++++++++++++++++
 .../models/sunken_vase/model.config           | 15 +++++
 .../models/sunken_vase/model.sdf              | 54 ++++++++++++++++++
 .../worlds/dave_ocean_models.world            | 10 +++-
 5 files changed, 140 insertions(+), 3 deletions(-)
 create mode 100644 models/dave_object_models/models/niskin/model.config
 create mode 100644 models/dave_object_models/models/niskin/model.sdf
 create mode 100644 models/dave_object_models/models/sunken_vase/model.config
 create mode 100644 models/dave_object_models/models/sunken_vase/model.sdf

diff --git a/models/dave_object_models/models/niskin/model.config b/models/dave_object_models/models/niskin/model.config
new file mode 100644
index 00000000..f6346a43
--- /dev/null
+++ b/models/dave_object_models/models/niskin/model.config
@@ -0,0 +1,9 @@
+<?xml version='1.0'?>
+<model>
+  <name>Niskin</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+  <description>
+    Niskin sampling bottle
+  </description>
+</model>
diff --git a/models/dave_object_models/models/niskin/model.sdf b/models/dave_object_models/models/niskin/model.sdf
new file mode 100644
index 00000000..972e4aef
--- /dev/null
+++ b/models/dave_object_models/models/niskin/model.sdf
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+    <model name="niskin">
+        <static>false</static>
+        <link name="base_link">
+            <inertial>
+                <pose>0.001636 -0.004927 0.001843</pose>
+                <mass>0.008183</mass>
+                <inertia>
+                    <ixx>0.000173</ixx>
+                    <iyy>0.000172</iyy>
+                    <izz>0.000022</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 0 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
+                        <scale>1.0 1.0 1.0</scale>
+                    </mesh>
+                </geometry>
+            </collision>
+            <visual name="Niskin_visual">
+                <geometry>
+                    <mesh>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
+                        <submesh>
+                            <name>Niskin</name>
+                            <center>false</center>
+                        </submesh>
+                    </mesh>
+                </geometry>
+                <material>
+                    <diffuse>1.0 1.0 1.0</diffuse>
+                    <specular>1.0 1.0 1.0</specular>
+                    <pbr>
+                        <metal>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
+                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
+                        </metal>
+                    </pbr>
+                    <!-- fallback to script if no PBR support-->
+                    <script>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
+                        <name>UrbanTile/Niskin_Diffuse</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/models/dave_object_models/models/sunken_vase/model.config b/models/dave_object_models/models/sunken_vase/model.config
new file mode 100644
index 00000000..197af9e0
--- /dev/null
+++ b/models/dave_object_models/models/sunken_vase/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Vase</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole@openrobotics.org</email>
+  </author>
+
+  <description>
+  </description>
+</model>
diff --git a/models/dave_object_models/models/sunken_vase/model.sdf b/models/dave_object_models/models/sunken_vase/model.sdf
new file mode 100644
index 00000000..ce726694
--- /dev/null
+++ b/models/dave_object_models/models/sunken_vase/model.sdf
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+    <model name="Pot01">
+        <static>false</static>
+        <link name="base_link">
+            <inertial>
+                <pose>0.000000 0.00014473 0.28908009</pose>
+                <mass>0.047262</mass>
+                <inertia>
+                    <ixx>0.002228</ixx>
+                    <iyy>0.002315</iyy>
+                    <izz>0.002557</izz>
+                </inertia>
+            </inertial>
+            <collision name="collision">
+                <pose>0 0 0 0 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
+                        <scale>1.0 1.0 1.0</scale>
+                    </mesh>
+                </geometry>
+            </collision>
+            <visual name="Pot01_visual">
+                <geometry>
+                    <mesh>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
+                        <submesh>
+                            <name>Pot01</name>
+                            <center>false</center>
+                        </submesh>
+                    </mesh>
+                </geometry>
+                <material>
+                    <diffuse>1.0 1.0 1.0</diffuse>
+                    <specular>1.0 1.0 1.0</specular>
+                    <pbr>
+                        <metal>
+                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
+                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
+                        </metal>
+                    </pbr>
+                    <!-- fallback to script if no PBR support-->
+                    <script>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
+                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
+                        <name>UrbanTile/Pot01_Diffuse</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index c3210d1d..810956ce 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -170,7 +170,9 @@
 
     <include>
       <pose>13 -7 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://sunken_vase</uri>
     </include>
 
     <!-- Pending model fix upstream -->
@@ -181,11 +183,13 @@
 
     <include>
       <pose>13 -9 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://niskin</uri>
     </include>
 
     <include>
-      <pose>13 -10 -94 0 0 0</pose>
+      <pose>13 -12 -94 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
     </include>