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Adding Fraunhofer IPA Rob@work4 mobile base world and collision scene (…
…#256) * Adding Fraunhofer IPA Rob@work4 mobile base world and collision scene * Licenses * Clarifying model naming/path
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sr_description_common/models/mobile_base_rob@work4/model.config
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| <?xml version="1.0"?> | ||
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| <!-- | ||
| Copyright 2023 Shadow Robot Company Ltd. | ||
| This program is free software: you can redistribute it and/or modify it | ||
| under the terms of the GNU General Public License as published by the Free | ||
| Software Foundation version 2 of the License. | ||
| This program is distributed in the hope that it will be useful, but WITHOUT | ||
| ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | ||
| FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| more details. | ||
| You should have received a copy of the GNU General Public License along | ||
| with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| --> | ||
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| <model> | ||
| <name>mobile_base_rob@work4</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.0">[email protected]</sdf> | ||
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| <author> | ||
| <name>Ethan Fowler</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
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| <description> | ||
| A box to simulate a mobile base (e.g. Rob@work4 from Fraunhofer IPA) | ||
| </description> | ||
| </model> |
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sr_description_common/models/mobile_base_rob@work4/model.sdf
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| <?xml version='1.0'?> | ||
|
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| <!-- | ||
| Copyright 2023 Shadow Robot Company Ltd. | ||
| This program is free software: you can redistribute it and/or modify it | ||
| under the terms of the GNU General Public License as published by the Free | ||
| Software Foundation version 2 of the License. | ||
| This program is distributed in the hope that it will be useful, but WITHOUT | ||
| ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | ||
| FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| more details. | ||
| You should have received a copy of the GNU General Public License along | ||
| with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| --> | ||
|
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| <sdf version="1.4"> | ||
| <model name="mobile_base_rob@work4"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.62 1.12 0.62</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.62 1.12 0.62</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| (noname)+ | ||
| * ground__link | ||
| 1 | ||
| box | ||
| 5 5 0.01 | ||
| 0 0.38 0 | ||
| 0 0 0 1 | ||
| 0 0 0 0 | ||
| * mobile_base__link | ||
| 1 | ||
| box | ||
| 0.62 1.12 0.62 | ||
| 0.15 0.38 0.309 | ||
| 0 0 0 1 | ||
| 0 0 0 0 | ||
| . |
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| <?xml version="1.0" ?> | ||
|
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| <!-- | ||
| Copyright 2023 Shadow Robot Company Ltd. | ||
| This program is free software: you can redistribute it and/or modify it | ||
| under the terms of the GNU General Public License as published by the Free | ||
| Software Foundation version 2 of the License. | ||
| This program is distributed in the hope that it will be useful, but WITHOUT | ||
| ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | ||
| FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| more details. | ||
| You should have received a copy of the GNU General Public License along | ||
| with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| --> | ||
|
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| <sdf version="1.4"> | ||
| <world name="default"> | ||
| <include> | ||
| <uri>model://ground</uri> | ||
| <name>ground</name> | ||
| <pose>0.00 0.38 0.0 0 0 0</pose> | ||
| </include> | ||
| <include> | ||
| <uri>model://mobile_base_rob@work4</uri> | ||
| <name>mobile_base_rob@work4</name> | ||
| <pose>0.15 0.38 0.309 0 0 0</pose> | ||
| </include> | ||
| <light type="directional" name="lab_light"> | ||
| <pose>0.86 1.96 2.5 -1.55 0 0</pose> | ||
| <diffuse>.8 .8 .8 1</diffuse> | ||
| <specular>.2 .2 .2 1</specular> | ||
| <attenuation> | ||
| <range>20</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>0 0 -1</direction> | ||
| <cast_shadows>true</cast_shadows> | ||
| </light> | ||
| <physics type="ode"> | ||
| <gravity>0.000000 0.000000 -9.810000</gravity> | ||
| <ode> | ||
| <solver> | ||
| <type>quick</type> | ||
| <iters>100</iters> | ||
| <precon_iters>0</precon_iters> | ||
| <sor>1.000000</sor> | ||
| </solver> | ||
| <constraints> | ||
| <cfm>0.000000</cfm> | ||
| <erp>0.500000</erp> | ||
| <contact_max_correcting_vel>1000.000000</contact_max_correcting_vel> | ||
| <contact_surface_layer>0.00000</contact_surface_layer> | ||
| </constraints> | ||
| </ode> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| <max_step_size>0.001000</max_step_size> | ||
| </physics> | ||
| <scene> | ||
| <ambient>0.4 0.4 0.4 1</ambient> | ||
| <background>0.7 0.7 1 1</background> | ||
| <shadows>1</shadows> | ||
| </scene> | ||
| <gui fullscreen='0'> | ||
| <camera name='user_camera'> | ||
| <pose frame=''>2.8784 4.2586 1.43117 0 0.083643 -2.30699</pose> | ||
| <view_controller>orbit</view_controller> | ||
| </camera> | ||
| </gui> | ||
| </world> | ||
| </sdf> |