Skip to content

Commit

Permalink
Adding robot safe store model, worlds and scenes (#254)
Browse files Browse the repository at this point in the history 
* adding robot safe store model, worlds and scenes

* increasing the size of the safe store box
  • Loading branch information
@georgiablanco
georgiablanco authored May 15, 2023
1 parent 9af346e commit bba2299
Show file tree
Hide file tree
Showing 6 changed files with 240 additions and 0 deletions.
16 changes: 16 additions & 0 deletions sr_description_common/models/robot_safe_store/model.config
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0"?>

<model>
<name>robot_safe_store</name>
<version>1.0</version>
<sdf version="1.0">model.sdf</sdf>

<author>
<name>Georgia Blanco-Litchfield</name>
<email>[email protected]</email>
</author>

<description>
A box to simulate a stored robot collision model.
</description>
</model>
28 changes: 28 additions & 0 deletions sr_description_common/models/robot_safe_store/model.sdf
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
<?xml version='1.0'?>
<sdf version="1.4">
<model name="robot_safe_store">
<static>true</static>
<link name="link">
<collision name="collision_robot_safe_store">
<geometry>
<box>
<size>0.75 0.7 0.8</size>
</box>
</geometry>
</collision>
<visual name="visual_base_robot_safe_store">
<geometry>
<box>
<size>0.75 0.7 0.8</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
32 changes: 32 additions & 0 deletions sr_description_common/scenes/customer_stand_bimanual_left_only.scene
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
(noname)+
* bimanual_stand__link
0 0.75 0.41
0 0 0 1
1
box
0.75 2.25 0.82
0 0 0
0 0 0 1
0 0 0 0
0
* ground__link
-0.2 0.8 0
0 0 0 1
1
box
5 5 0.01
0 0 0
0 0 0 1
0 0 0 0
0
* robot_safe_store__link
0 0 1.21
0 0 0 1
1
box
0.75 0.7 0.8
0 0 0
0 0 0 1
0 0 0 0
0
.
32 changes: 32 additions & 0 deletions sr_description_common/scenes/customer_stand_bimanual_right_only.scene
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
(noname)+
* bimanual_stand__link
0 0.75 0.41
0 0 0 1
1
box
0.75 2.25 0.82
0 0 0
0 0 0 1
0 0 0 0
0
* ground__link
-0.2 0.8 0
0 0 0 1
1
box
5 5 0.01
0 0 0
0 0 0 1
0 0 0 0
0
* robot_safe_store__link
0 1.5 1.21
0 0 0 1
1
box
0.75 0.7 0.8
0 0 0
0 0 0 1
0 0 0 0
0
.
66 changes: 66 additions & 0 deletions sr_description_common/worlds/customer_stand_bimanual_left_only.world
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- Floor and Ceiling -->
<include>
<uri>model://ground</uri>
<name>ground</name>
<pose>-0.20 0.80 0.0 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>
<include>
<uri>model://bimanual_stand</uri>
<static>true</static>
<name>bimanual_stand</name>
<pose>0 0.75 0.41 0 0 0</pose>
</include>
<include>
<uri>model://robot_safe_store</uri>
<static>true</static>
<name>robot_safe_store</name>
<pose>0 0.0 1.21 0 0 0</pose>
</include>
<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>
66 changes: 66 additions & 0 deletions sr_description_common/worlds/customer_stand_bimanual_right_only.world
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- Floor and Ceiling -->
<include>
<uri>model://ground</uri>
<name>ground</name>
<pose>-0.20 0.80 0.0 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>
<include>
<uri>model://bimanual_stand</uri>
<static>true</static>
<name>bimanual_stand</name>
<pose>0 0.75 0.41 0 0 0</pose>
</include>
<include>
<uri>model://robot_safe_store</uri>
<static>true</static>
<name>robot_safe_store</name>
<pose>0.0 1.5 1.21 0 0 0</pose>
</include>
<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>

0 comments on commit bba2299

Please sign in to comment.