From 08c55cdf3ec5f0577e42f96ca75bdd9e7bf13622 Mon Sep 17 00:00:00 2001
From: brothermechanic <brothermechanic@gmail.com>
Date: Tue, 28 Feb 2023 21:56:05 +0300
Subject: [PATCH] add sdf assembly

---
 gazebo/grip_tool/meshes/collision/grip.stl    |  3 +
 .../grip_tool/meshes/collision/gripbase.stl   |  3 +
 .../grip_tool/meshes/collision/gripcircle.stl |  3 +
 gazebo/grip_tool/meshes/visual/grip.dae       |  3 +
 gazebo/grip_tool/meshes/visual/gripbase.dae   |  3 +
 gazebo/grip_tool/meshes/visual/gripcircle.dae |  3 +
 gazebo/grip_tool/model.config                 | 11 +++
 gazebo/grip_tool/model.sdf                    | 85 +++++++++++++++++++
 8 files changed, 114 insertions(+)
 create mode 100644 gazebo/grip_tool/meshes/collision/grip.stl
 create mode 100644 gazebo/grip_tool/meshes/collision/gripbase.stl
 create mode 100644 gazebo/grip_tool/meshes/collision/gripcircle.stl
 create mode 100644 gazebo/grip_tool/meshes/visual/grip.dae
 create mode 100644 gazebo/grip_tool/meshes/visual/gripbase.dae
 create mode 100644 gazebo/grip_tool/meshes/visual/gripcircle.dae
 create mode 100644 gazebo/grip_tool/model.config
 create mode 100644 gazebo/grip_tool/model.sdf

diff --git a/gazebo/grip_tool/meshes/collision/grip.stl b/gazebo/grip_tool/meshes/collision/grip.stl
new file mode 100644
index 0000000..cf0b39b
--- /dev/null
+++ b/gazebo/grip_tool/meshes/collision/grip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7e035cf0f9b669d41215562cf67596161af4b05da16289a919b3f66787f789
+size 48084
diff --git a/gazebo/grip_tool/meshes/collision/gripbase.stl b/gazebo/grip_tool/meshes/collision/gripbase.stl
new file mode 100644
index 0000000..df68fd4
--- /dev/null
+++ b/gazebo/grip_tool/meshes/collision/gripbase.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6095256ec49bb7c26b9016d4111e9b581593ff158b95895dedb34fd7082cc88
+size 3048584
diff --git a/gazebo/grip_tool/meshes/collision/gripcircle.stl b/gazebo/grip_tool/meshes/collision/gripcircle.stl
new file mode 100644
index 0000000..3b71318
--- /dev/null
+++ b/gazebo/grip_tool/meshes/collision/gripcircle.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7826c170ffcd280199e52cf7dbe85a456ae32dd0fafacd176f7752eb6d09c43
+size 691984
diff --git a/gazebo/grip_tool/meshes/visual/grip.dae b/gazebo/grip_tool/meshes/visual/grip.dae
new file mode 100644
index 0000000..3ec0bbd
--- /dev/null
+++ b/gazebo/grip_tool/meshes/visual/grip.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ce4e5c7a2fb9d6a64620ce2fa072af65bbaac3272f4ceb8ba54d1f6bd3ff20
+size 56192
diff --git a/gazebo/grip_tool/meshes/visual/gripbase.dae b/gazebo/grip_tool/meshes/visual/gripbase.dae
new file mode 100644
index 0000000..d421221
--- /dev/null
+++ b/gazebo/grip_tool/meshes/visual/gripbase.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f28425f4430228de71d3026ea1508e9f9620a677855f891609baf329654614a
+size 4493552
diff --git a/gazebo/grip_tool/meshes/visual/gripcircle.dae b/gazebo/grip_tool/meshes/visual/gripcircle.dae
new file mode 100644
index 0000000..6f9765b
--- /dev/null
+++ b/gazebo/grip_tool/meshes/visual/gripcircle.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:102fb5b4ac3ba69ecb45461a50327399a16a5f486954dfc74e91344b8e2ed73b
+size 987059
diff --git a/gazebo/grip_tool/model.config b/gazebo/grip_tool/model.config
new file mode 100644
index 0000000..94961c3
--- /dev/null
+++ b/gazebo/grip_tool/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>gripL</name>
+  <version>Version</version>
+  <sdf version="1.5">model.sdf</sdf>
+  <author>
+    <name>brothermechanic</name>
+    <email>brothermechanic@gmail.com</email>
+  </author>
+  <description>Comment</description>
+</model>
diff --git a/gazebo/grip_tool/model.sdf b/gazebo/grip_tool/model.sdf
new file mode 100644
index 0000000..72a0c2e
--- /dev/null
+++ b/gazebo/grip_tool/model.sdf
@@ -0,0 +1,85 @@
+<?xml version="1.0" ?>
+<sdf version='1.7'>
+  <world name='grip_tool'>
+    <model name='gripbase'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <static>true</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripbase.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripbase.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripcircle'>
+      <pose>0.000000 0.000000 0.109480 0.000000 0.000000 0.000000</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripcircle.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripcircle.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripR'>
+      <pose>0.000000 0.000000 0.214710 0.000000 0.000000 0.000000</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripL'>
+      <pose>0.000000 0.000000 0.214710 0.000000 0.000000 3.141593</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+  </world>
+</sdf>