add yaml db and change static model to dynamic

asp-example/rbs_db.yaml

@@ -0,0 +1,65 @@
+assets_db: assets
+workspace:
+  - x: 0.200000
+    y: 0.200000
+    z: 0.00000
+  - x: 0.400000
+    y: 0.200000
+    z: 0.00000
+  - x: 0.400000
+    y: -0.200000
+    z: 0.00000
+  - x: 0.200000
+    y: -0.200000
+    z: 0.00000
+absolute_part:
+  - name: board
+    pose:
+      position:
+        x: 0.500000
+        y: 0.00000
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 0.100000
+relative_part: 
+  - name: bishop
+    relative_at: board
+    pose:
+      position:
+        x: -0.00170000
+        y: 0.00292700
+        z: -3.00000e-06
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+grasp_pose:
+  - name: pose01_pregrasp
+    relative_at: bishop
+    pose:
+      position:
+        x: -0.10000
+        y: 0.00000
+        z: 0.1000000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
+  - name: pose02_grasp
+    relative_at: bishop
+    pose:
+      position:
+        x: 0.00000
+        y: 0.00000
+        z: 0.0560000
+      orientation:
+        x: 0.00000
+        y: 1.00000
+        z: 0.00000
+        w: 0.00000
+extra_poses: []

asp-example/robossembler_db.yaml

@@ -163,4 +163,49 @@ grasp_pose:
         x: 0.00000
         y: 0.850904
         z: 0.00000
-        w: 0.525322
+        w: 0.525322
+extra_poses:
+  - name: pose_arm1_pick
+    pose:
+      position:
+        x: -0.945
+        y: -2.14
+        z: 1.02
+      orientation:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+        w: 1.0
+  - name: pose_arm2_pick
+    pose:
+      position:
+        x: 0.945
+        y: -1.86
+        z: 1.02
+      orientation:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+        w: 1.0
+  - name: pose_arm1_place
+    pose:
+      position:
+        x: -0.1
+        y: -2.0
+        z: 1.0
+      orientation:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+        w: 1.0
+  - name: pose_arm2_place
+    pose:
+      position:
+        x: 0.1
+        y: -2.0
+        z: 0.97
+      orientation:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+        w: 1.0

asp-example/sdf_generation/bishop/model.sdf

@@ -2,8 +2,20 @@
 <sdf version="1.6">
   <model name="bishop">
     <pose>0 0 0 0 0 0</pose>
-    <static>false</static>
+    <!-- <static>false</static> -->
     <link name="body">
+      <inertial>
+        <pose>0.000000 0.000031 0.024266 0 0 0</pose>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.000000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>-0.000000</ixz>
+          <iyy>0.000000</iyy>
+          <iyz>-0.000000</iyz>
+          <izz>0.000000</izz>
+        </inertia>
+      </inertial>
       <visual name="visual">
         <geometry>
           <mesh>

asp-example/sdf_generation/board/model.sdf

@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <model name="board">
-    <pose>0 0 0 0 0 0</pose>
+    <pose>0 0 0.001 0 0 0</pose>
     <static>true</static>
     <link name="body">
       <visual name="visual">
@@ -12,6 +12,14 @@
           </mesh>
         </geometry>
       </visual>
+      <!-- <collision name="visual"> -->
+      <!--   <geometry> -->
+      <!--     <mesh> -->
+      <!--       <scale>1.0 1.0 1.0</scale> -->
+      <!--       <box></box> -->
+      <!--     </mesh> -->
+      <!--   </geometry> -->
+      <!-- </collision> -->
     </link>
   </model>
 </sdf>