Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add pick to bin simulation #80

Open
wants to merge 4 commits into
base: gazebo9
Choose a base branch
from
Open

Add pick to bin simulation #80

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
1d2b0de
add cubes into gazebo world
ejichen Apr 3, 2019
fa167fb
modify cube friction and add different colors bins/cubes
ejichen Apr 3, 2019
6909059
remove cubes from fetchit_challenge worlds
ejichen Apr 12, 2019
c5948ac
Merge branch 'gazebo9' of github.com:fetchrobotics/fetch_gazebo into …
ejichen Apr 12, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 23 additions & 0 deletions fetch_gazebo/launch/picktobin_playground.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
<launch>

<env name="GAZEBO_MODEL_PATH" value="$(find fetch_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)" />

<arg name="robot" default="fetch"/>
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>

<!-- Start Gazebo with a blank world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="world_name" value="$(find fetch_gazebo)/worlds/test_zone_pick_to_bin.sdf"/>
</include>

<!-- Oh, you wanted a robot? -->
<include file="$(find fetch_gazebo)/launch/include/$(arg robot)_pp.launch.xml" />

</launch>
57 changes: 57 additions & 0 deletions fetch_gazebo/worlds/test_zone_pick_to_bin.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,57 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://test_zone</uri>
</include>
<include>
<uri>model://cafe_table</uri>
<name>table1</name>
<pose>1.008266 0 -0.08 0 0 0</pose>
</include>
<include>
<uri>model://demo_cube</uri>
<name>demo_cube_blue</name>
<pose>0.64728 0.363 0.722999 0 0 0</pose>
</include>

<include>
<uri>model://demo_cube_green</uri>
<name>demo_cube_green</name>
<pose>0.64728 -0.213097 0.722999 0 0 0</pose>
</include>


<include>
<uri>model://50mmbin_green</uri>
<name>50mmbin_green</name>
<pose>0.877488 0.363 0.694133 0 0 -1.57</pose>
</include>

<include>
<uri>model://50mmbin</uri>
<name>50mmbin_blue</name>
<pose> 0.877488 -0.316133 0.696021 0 0 -1.57</pose>
</include>

<light name='user_point_light_0' type='sun'>
<pose frame=''> 1.2489 0.0 4.0 0 0 0</pose>
<!-- <diffuse>0.7 0.7 0.7 1</diffuse> -->
<!-- <specular>0.1 0.1 0.1 1</specular> -->
<!-- <attenuation>
<range>10</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction> -->
</light>
</world>
</sdf>
1 change: 1 addition & 0 deletions fetch_gazebo_demo/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

<!-- Start MoveIt -->
<include file="$(find fetch_moveit_config)/launch/move_group.launch" >
<arg name="allow_active_sensing" value="true"/>
<arg name="info" value="true"/><!-- publish grasp markers -->
</include>

Expand Down
Binary file added fetchit_challenge/models/50mmbin_green/meshes/50mm.stl
View file
Open in desktop
Binary file not shown.
293 changes: 293 additions & 0 deletions fetchit_challenge/models/50mmbin_green/meshes/50mm_green.dae
View file
Open in desktop

Large diffs are not rendered by default.

14 changes: 14 additions & 0 deletions fetchit_challenge/models/50mmbin_green/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
<?xml version="1.0"?>
<model>
<name>50mmbin_green</name>
<version>0.1.0</version>
<author>
<name>Miguel Angel Rodriguez</name>
<email>[email protected]</email>
</author>
<sdf version='1.4'>model.sdf</sdf>
<description>
50mm bin extracted from ThingiVerse: https://www.thingiverse.com/thing:14258,
Created by user: Mathew Laberge https://www.thingiverse.com/matthewlaberge/about
</description>
</model>
50 changes: 50 additions & 0 deletions fetchit_challenge/models/50mmbin_green/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<model name="50mmbin_green">
<static>1</static>
<link name='link'>
<inertial>
<mass>0.0189132</mass>
<inertia>
<ixx>3.36060179959e-06</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>3.36060179959e-06</iyy>
<iyz>0.000000</iyz>
<izz>1.34975977923e-06</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://50mmbin_green/meshes/50mm.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>30.0</mu>
<mu2>30.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://50mmbin_green/meshes/50mm_green.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
Binary file added fetchit_challenge/models/50mmbin_red/meshes/50mm.stl
View file
Open in desktop
Binary file not shown.
198 changes: 198 additions & 0 deletions fetchit_challenge/models/50mmbin_red/meshes/50mm_red.dae
View file
Open in desktop

Large diffs are not rendered by default.

14 changes: 14 additions & 0 deletions fetchit_challenge/models/50mmbin_red/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
<?xml version="1.0"?>
<model>
<name>50mmbin</name>
<version>0.1.0</version>
<author>
<name>Miguel Angel Rodriguez</name>
<email>[email protected]</email>
</author>
<sdf version='1.4'>model.sdf</sdf>
<description>
50mm bin extracted from ThingiVerse: https://www.thingiverse.com/thing:14258,
Created by user: Mathew Laberge https://www.thingiverse.com/matthewlaberge/about
</description>
</model>
50 changes: 50 additions & 0 deletions fetchit_challenge/models/50mmbin_red/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<model name="50mmbin_red">
<static>1</static>
<link name='link'>
<inertial>
<mass>0.0189132</mass>
<inertia>
<ixx>3.36060179959e-06</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>3.36060179959e-06</iyy>
<iyz>0.000000</iyz>
<izz>1.34975977923e-06</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://50mmbin_red/meshes/50mm.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>30.0</mu>
<mu2>30.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://50mmbin_red/meshes/50mm_red.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
Binary file added fetchit_challenge/models/50mmbin_yellow/meshes/50mm.stl
View file
Open in desktop
Binary file not shown.
198 changes: 198 additions & 0 deletions fetchit_challenge/models/50mmbin_yellow/meshes/50mm_yellow.dae
View file
Open in desktop

Large diffs are not rendered by default.

14 changes: 14 additions & 0 deletions fetchit_challenge/models/50mmbin_yellow/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
<?xml version="1.0"?>
<model>
<name>50mmbin_yellow</name>
<version>0.1.0</version>
<author>
<name>Miguel Angel Rodriguez</name>
<email>[email protected]</email>
</author>
<sdf version='1.4'>model.sdf</sdf>
<description>
50mm bin extracted from ThingiVerse: https://www.thingiverse.com/thing:14258,
Created by user: Mathew Laberge https://www.thingiverse.com/matthewlaberge/about
</description>
</model>
50 changes: 50 additions & 0 deletions fetchit_challenge/models/50mmbin_yellow/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<model name="50mmbin_yellow">
<static>1</static>
<link name='link'>
<inertial>
<mass>0.0189132</mass>
<inertia>
<ixx>3.36060179959e-06</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>3.36060179959e-06</iyy>
<iyz>0.000000</iyz>
<izz>1.34975977923e-06</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://50mmbin_yellow/meshes/50mm.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>30.0</mu>
<mu2>30.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://50mmbin_yellow/meshes/50mm_yellow.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
13 changes: 13 additions & 0 deletions fetchit_challenge/models/demo_cube/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<?xml version="1.0"?>
<model>
<name>demo_cube</name>
<version>0.1.0</version>
<author>
<name>Michael Ferguson</name>
<email>[email protected]</email>
</author>
<sdf>model.sdf</sdf>
<description>
A strangely familar cube.
</description>
</model>
62 changes: 62 additions & 0 deletions fetchit_challenge/models/demo_cube/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,62 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<model name="demo_cube">
<static>0</static>
<link name='link'>
<inertial>
<mass>0.25</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.001</iyy>
<iyz>0.000000</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.060 0.060 0.060</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>60.0</mu>
<mu2>60.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1000000.0</kp>
<kd>100.0</kd>
<max_vel>1.0</max_vel>
<min_depth>0.002</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>0.060 0.060 0.060</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
13 changes: 13 additions & 0 deletions fetchit_challenge/models/demo_cube_green/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<?xml version="1.0"?>
<model>
<name>demo_cube_green</name>
<version>0.1.0</version>
<author>
<name>Michael Ferguson</name>
<email>[email protected]</email>
</author>
<sdf>model.sdf</sdf>
<description>
A strangely familar cube.
</description>
</model>
Loading