Adding the new customer stand for a bimanual system (#253)

* adding customer scenes for new stand (#252) * adding customer scenes * Delete customer_world_bimanual.scene * Adding bimanual stand * Adding bimanual stand * Fixing bimanual stand * Fixing bimanual stand * Adding scene --------- Co-authored-by: Georgia Blanco-Litchfield <[email protected]>
shadow-robot · Apr 27, 2023 · 9af346e · 9af346e
1 parent 8295265
commit 9af346e
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Showing 4 changed files with 56 additions and 22 deletions.
diff --git a/sr_description_common/models/bimanual_stand/model.config b/sr_description_common/models/bimanual_stand/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>bimanual_stand</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Georgia Blanco-Litchfield</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A simple box emulating the bimanual stands for RViz. This include the two stands and the table between them.
+  </description>
+</model>
diff --git a/sr_description_common/models/bimanual_stand/model.sdf b/sr_description_common/models/bimanual_stand/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="bimanual_stand">
+  <static>true</static>
+    <link name="link">
+      <inertial>
+        <mass>1.0</mass>
+        <inertia>
+          <!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
+          <ixx>0.4779</ixx>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyy>0.1029</iyy>
+          <iyz>0.0</iyz>
+          <izz>0.4687</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.75 2.25 0.82</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.75 2.25 0.82</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/sr_description_common/scenes/customer_stand_bimanual.scene b/sr_description_common/scenes/customer_stand_bimanual.scene
@@ -9,22 +9,12 @@ box
 0 0 0 1
 0 0 0 0
 0
-* square_stand_1__link
-0 1.5 0.41
+* bimanual_stand__link
+0 0.75 0.41
 0 0 0 1
 1
 box
-0.75 0.75 0.82
-0 0 0
-0 0 0 1
-0 0 0 0
-0
-* square_stand__link
-0 0 0.41
-0 0 0 1
-1
-box
-0.75 0.75 0.82
+0.75 2.25 0.82
 0 0 0
 0 0 0 1
 0 0 0 0

diff --git a/sr_description_common/worlds/customer_stand_bimanual.world b/sr_description_common/worlds/customer_stand_bimanual.world
@@ -21,16 +21,10 @@
       <cast_shadows>true</cast_shadows>
     </light>
     <include>
-      <uri>model://square_stand</uri>
+      <uri>model://bimanual_stand</uri>
       <static>true</static>
-      <name>square_stand</name>
-      <pose>0 0 0.41 0 0 0</pose>
-    </include>
-    <include>
-      <uri>model://square_stand</uri>
-      <static>true</static>
-      <name>square_stand_1</name>
-      <pose>0 1.5 0.41 0 0 0</pose>
+      <name>bimanual_stand</name>
+      <pose>0 0.75 0.41 0 0 0</pose>
     </include>
     <physics type="ode">
       <gravity>0.000000 0.000000 -9.810000</gravity>