From bba229948f2560a7522b7bd95ad7e2f0ae9c496f Mon Sep 17 00:00:00 2001
From: Georgia Blanco-Litchfield <georgia@shadowrobot.com>
Date: Mon, 15 May 2023 10:05:37 +0100
Subject: [PATCH] Adding robot safe store model, worlds and scenes (#254)

* adding robot safe store model, worlds and scenes

* increasing the size of the safe store box
---
 .../models/robot_safe_store/model.config      | 16 +++++
 .../models/robot_safe_store/model.sdf         | 28 ++++++++
 .../customer_stand_bimanual_left_only.scene   | 32 +++++++++
 .../customer_stand_bimanual_right_only.scene  | 32 +++++++++
 .../customer_stand_bimanual_left_only.world   | 66 +++++++++++++++++++
 .../customer_stand_bimanual_right_only.world  | 66 +++++++++++++++++++
 6 files changed, 240 insertions(+)
 create mode 100644 sr_description_common/models/robot_safe_store/model.config
 create mode 100644 sr_description_common/models/robot_safe_store/model.sdf
 create mode 100644 sr_description_common/scenes/customer_stand_bimanual_left_only.scene
 create mode 100644 sr_description_common/scenes/customer_stand_bimanual_right_only.scene
 create mode 100644 sr_description_common/worlds/customer_stand_bimanual_left_only.world
 create mode 100644 sr_description_common/worlds/customer_stand_bimanual_right_only.world

diff --git a/sr_description_common/models/robot_safe_store/model.config b/sr_description_common/models/robot_safe_store/model.config
new file mode 100644
index 00000000..15103459
--- /dev/null
+++ b/sr_description_common/models/robot_safe_store/model.config
@@ -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>georgia@shadowrobot.com</email>
+  </author>
+
+  <description>
+    A box to simulate a stored robot collision model.
+  </description>
+</model>
diff --git a/sr_description_common/models/robot_safe_store/model.sdf b/sr_description_common/models/robot_safe_store/model.sdf
new file mode 100644
index 00000000..75385b32
--- /dev/null
+++ b/sr_description_common/models/robot_safe_store/model.sdf
@@ -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>
\ No newline at end of file
diff --git a/sr_description_common/scenes/customer_stand_bimanual_left_only.scene b/sr_description_common/scenes/customer_stand_bimanual_left_only.scene
new file mode 100644
index 00000000..280a4207
--- /dev/null
+++ b/sr_description_common/scenes/customer_stand_bimanual_left_only.scene
@@ -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
+.
diff --git a/sr_description_common/scenes/customer_stand_bimanual_right_only.scene b/sr_description_common/scenes/customer_stand_bimanual_right_only.scene
new file mode 100644
index 00000000..7b8797c0
--- /dev/null
+++ b/sr_description_common/scenes/customer_stand_bimanual_right_only.scene
@@ -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
+.
diff --git a/sr_description_common/worlds/customer_stand_bimanual_left_only.world b/sr_description_common/worlds/customer_stand_bimanual_left_only.world
new file mode 100644
index 00000000..c41e465f
--- /dev/null
+++ b/sr_description_common/worlds/customer_stand_bimanual_left_only.world
@@ -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>
diff --git a/sr_description_common/worlds/customer_stand_bimanual_right_only.world b/sr_description_common/worlds/customer_stand_bimanual_right_only.world
new file mode 100644
index 00000000..cb5c53c4
--- /dev/null
+++ b/sr_description_common/worlds/customer_stand_bimanual_right_only.world
@@ -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>