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add assembly config

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This commit is contained in:
Ilya Uraev 2024-02-16 14:21:55 +03:00
parent 991a941323
commit af62516bf2
135 changed files with 262618 additions and 0 deletions
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asp-example/.DS_Store vendored Normal file
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asp-example/adjacency_matrix.json Normal file
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{
"allParts": [
"board",
"bishop",
"king",
"knight",
"queen",
"pawn",
"rook",
"gripSpace",
"gripSpace001",
"gripSpace002",
"gripSpace003",
"gripSpace004",
"gripSpace005"
],
"firstDetail": "board",
"matrix": {
"board": [
"bishop",
"king",
"knight",
"queen",
"pawn",
"rook"
],
"bishop": [
"board",
"gripSpace002"
],
"king": [
"board",
"gripSpace"
],
"knight": [
"board",
"gripSpace003"
],
"queen": [
"board",
"gripSpace001"
],
"pawn": [
"board",
"gripSpace005"
],
"rook": [
"board",
"gripSpace004"
],
"gripSpace": [
"king"
],
"gripSpace001": [
"queen"
],
"gripSpace002": [
"bishop"
],
"gripSpace003": [
"knight"
],
"gripSpace004": [
"rook"
],
"gripSpace005": [
"pawn"
]
},
"matrixError": null
}

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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib 0.mtl

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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
Tr 0.0
# Material Count: 1

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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib 1.mtl
o MergedMesh739204
usemtl color_cccccc
v 0.0 0.0 0.0
v 210.0 0.0 0.0
v 0.0 10.0 0.0
v 210.0 10.0 0.0
v 210.0 10.0 -50.0
v 210.0 0.0 -50.0
v 0.0 0.0 -50.0
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vn 0.0 0.0 -1.0
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vn -1.0 0.0 0.0
vn -1.0 0.0 0.0
vn 0.0 1.0 -0.0
vn 0.0 1.0 0.0
vn 0.0 -1.0 -2.220446049250313e-16
vn 0.0 -1.0 -2.220446049250313e-16
f 1//1 2//1 3//1
f 2//2 4//2 3//2
f 2//3 5//3 4//3
f 6//4 5//4 2//4
f 6//5 7//5 8//5
f 5//6 6//6 8//6
f 8//7 7//7 1//7
f 8//8 1//8 3//8
f 5//9 3//9 4//9
f 5//10 8//10 3//10
f 7//11 6//11 1//11
f 1//12 6//12 2//12

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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [102.72243186433548, 80.0, -12.249999999999922]}

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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [129.0, 101.15599906289887, -25.999999999998973]}

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# http://www.freecadweb.org
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# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
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# https://www.freecadweb.org
newmtl color_cccccc
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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [194.03854811567263, 89.00000000000014, -17.99999999999912]}

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# http://www.freecadweb.org
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# https://www.freecadweb.org
newmtl color_cccccc
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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [36.16580753730952, 101.89916339772901, -10.999999999999911]}

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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
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# http://www.freecadweb.org
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# https://www.freecadweb.org
newmtl color_cccccc
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# Material Count: 1

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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [70.16580753730953, 89.00000000000003, -10.999999999999908]}

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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
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# http://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
Tr 0.0
# Material Count: 1

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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [24.803847577293368, 113.0000000000001, -15.999999999998849]}

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# http://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
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# FreeCAD v0.20 build2 Arch module
# https://www.freecadweb.org
newmtl color_cccccc
Kd 0.800000011920929 0.800000011920929 0.800000011920929
Tr 0.0
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{"0": [-1.7976931348623157e+308, -1.7976931348623157e+308, -1.7976931348623157e+308], "1": [92.2499999999997, 104.00000000000009, -17.661215932167305]}

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asp-example/assets/bishop.json Normal file
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{
"name": "bishop",
"ixx": 0.00000286,
"ixy": -0.00000002,
"ixz": -0.00000014,
"iyy": 0.00000277,
"iyz": 0.000000,
"izz": 0.00000029,
"massSDF": 0.000018,
"posX": 0.040000,
"posY": 0.000031,
"posZ": 0.024266,
"eulerX": 0.000000,
"eulerY": 0.000000,
"eulerZ": -89.99999999999977,
"stl": "sdf_generation/bishop/meshes/bishop.stl",
"friction": -89.99999999999977
}

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asp-example/assets/board.json Normal file
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{
"name": "board",
"ixx": 0.00260101,
"ixy": -0.00000142,
"ixz": 0.0,
"iyy": 0.00260101,
"izz": 0.00520192,
"massSDF": 0.000102,
"posX": 0.160000,
"posY": 0.160000,
"posZ": 0.000500,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.570796,
"iyz": 0.0,
"stl": "sdf_generation/board/meshes/board.dae",
"friction": -89.99999999999999
}

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asp-example/assets/king.json Normal file
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{
"name": "king",
"ixx": 0.00000827,
"ixy": 0.00000001,
"ixz": -0.00000016,
"iyy": 0.0000083,
"izz": 0.00000059,
"massSDF": 0.029694507355053763,
"posX": 0.000002,
"posY": 0.000001,
"posZ": -0.000002,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.5708,
"iyz": 0.000000,
"stl": "sdf_generation/king/meshes/king.stl",
"friction": -1.5708
}

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asp-example/assets/knight.json Normal file
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{
"name": "knight",
"ixx": 0.00000155,
"ixy": 0.00000001,
"ixz": 0.00000006,
"iyy": 0.00000147,
"izz": 0.0000005,
"massSDF": 0.005191,
"posX": -0.000006,
"posY": 0.001542,
"posZ": 0.027321,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.5707963267948966,
"iyz": 0.4036834333061685,
"stl": "sdf_generation/knight/meshes/knight.stl",
"friction": -1.5707963267948966
}

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asp-example/assets/pawn.json Normal file
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{
"name": "pawn",
"ixx": 0.00000114,
"ixy": -0.00000003,
"ixz": 0.00000015,
"iyy": 0.00000113,
"izz": 0.00000022,
"massSDF": 0.013787186946194,
"posX": 0.00019,
"posY": 0.000001,
"posZ": -0.000002,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.5707963267948966,
"iyz": 0.000000,
"stl": "sdf_generation/pawn/meshes/pawn.stl",
"friction": -1.5707963267948966
}

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asp-example/assets/queen.json Normal file
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{
"name": "queen",
"ixx": 0.00000245,
"ixy": -0.00000003,
"ixz": 0.00000008,
"iyy": 0.0000024,
"izz": 0.00000046,
"massSDF": 0.02625179832368621,
"posX": 0.000005,
"posY": 0.000001,
"posZ": -0.000002,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.5707963267948966,
"iyz": 0.000000,
"stl": "sdf_generation/queen/meshes/queen.stl",
"friction": -1.5707963267948966
}

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asp-example/assets/rook.json Normal file
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{
"name": "rook",
"ixx": 0.00000058,
"ixy": 0.00000002,
"ixz": -0.00000001,
"iyy": 0.00000057,
"izz": 0.00000023,
"massSDF": 0.017063515037115735,
"posX": 0.000156,
"posY": 0.000001,
"posZ": -0.000002,
"eulerX": 0.0,
"eulerY": 0.0,
"eulerZ": -1.5707963267948966,
"iyz": 0.000000,
"stl": "sdf_generation/rook/meshes/rook.stl",
"friction": -1.5707963267948966
}

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asp-example/intersection_geometry.json Normal file
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{
"status": false,
"recalculations": [
{
"area": 897.0437257747013,
"connect": "gripSpace002 bishop"
},
{
"area": 1569.138187063812,
"connect": "gripSpace king"
},
{
"area": 798.0070657135794,
"connect": "gripSpace003 knight"
},
{
"area": 1019.3296879812281,
"connect": "gripSpace001 queen"
},
{
"area": 651.9286480357754,
"connect": "gripSpace005 pawn"
},
{
"area": 1445.3888189818124,
"connect": "gripSpace004 rook"
}
]
}

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asp-example/robossembler_db.json Normal file
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{
"assets_db": "assets",
"workspace": [
{
"position": { "x": 0.2, "y": 0.20, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": 0.20, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": -0.20, "z": 0.0 }
},
{
"position": { "x": 0.2, "y": -0.20, "z": 0.0 }
}
],
"absolutePart": {
"name": "board",
"position": { "x": "0.500000", "y": "0.000000", "z": "0.000000" },
"quaternion": {
"qw": "0.100000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
"relativeParts": [
{
"name": "bishop",
"relativeAt": "board",
"position": { "x": "-0.001700", "y": "0.002927", "z": "-0.000003" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
{
"name": "king",
"relativeAt": "board",
"position": { "x": "-0.008500", "y": "0.003729", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
{
"name": "knight",
"relativeAt": "board",
"position": { "x": "0.001700", "y": "0.003012", "z": "-0.000160" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
{
"name": "queen",
"relativeAt": "board",
"position": { "x": "-0.005100", "y": "0.003340", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
{
"name": "pawn",
"relativeAt": "board",
"position": { "x": "0.008500", "y": "0.002238", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
},
{
"name": "rook",
"relativeAt": "board",
"position": { "x": "0.005100", "y": "0.002667", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
}
}
],
"graspPoseModels": [
{
"name": "king",
"position": { "x": "-0.000020", "y": "0.003071", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
}
},
{
"name": "queen",
"position": { "x": "0.000038", "y": "0.003360", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
}
},
{
"name": "bishop",
"position": { "x": "0.000000", "y": "0.0", "z": "0.056" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
}
},
{
"name": "knight",
"position": { "x": "0.000000", "y": "0.002604", "z": "-0.000440" },
"quaternion": {
"qw": "0.200770",
"qx": "-0.400576",
"qy": "0.799230",
"qz": "-0.400576"
}
},
{
"name": "rook",
"position": { "x": "0.000000", "y": "0.002233", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
}
},
{
"name": "pawn",
"position": { "x": "0.000000", "y": "0.002162", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
}
}
]
}

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<?xml version="1.0"?>
<sdf version="1.6">
<model name="square">
<static>true</static>
<link name="link123">
<collision name="collision1">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
</link>
</model>
</sdf>

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asp-example/sdf/meshes/ChessLine_asm.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib ChessLine_asm.mtl

3
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib bishop.mtl

3
asp-example/sdf/meshes/board.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib board.mtl

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asp-example/sdf/meshes/gripSpace.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace.mtl

3
asp-example/sdf/meshes/gripSpace001.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace001.mtl

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asp-example/sdf/meshes/gripSpace002.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace002.mtl

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asp-example/sdf/meshes/gripSpace003.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace003.mtl

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asp-example/sdf/meshes/gripSpace004.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace004.mtl

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asp-example/sdf/meshes/gripSpace005.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib gripSpace005.mtl

3
asp-example/sdf/meshes/king.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib king.mtl

3
asp-example/sdf/meshes/knight.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib knight.mtl

3
asp-example/sdf/meshes/pawn.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib pawn.mtl

3
asp-example/sdf/meshes/queen.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib queen.mtl

3
asp-example/sdf/meshes/rook.obj Normal file
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# FreeCAD v0.20 build2 Arch module
# http://www.freecadweb.org
mtllib rook.mtl

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22
asp-example/sdf_generation/asm1.sdf Normal file
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<sdf version="1.7">
<world name="empty">
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"></atmosphere>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="assembly">
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
</link>
<include>
<name>board</name>
<uri>/board</uri>
<pose>-0.0 -0.0 -0.0 0.0 0.0 -89.99999999999999</pose>
</include>
</model>
</world>
</sdf>

111
asp-example/sdf_generation/asm2.sdf Normal file
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<?xml version="1.0"?>
<sdf version='1.9'>
<world name='mir'>
<physics name='1ms' type='ignored'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
<render_engine>ogre2</render_engine>
</plugin>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>false</shadows>
</scene>
<gui fullscreen="0">
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.4 0.6 1.0</background_color>
<camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
</plugin>
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground'>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<!-- Manipulating objects -->
<model name="board">
<pose>0.0 0.0 0.0 0.0 0.0 -89.99999999999999</pose>
<include>
<name>board</name>
<uri>model://board</uri>
</include>
</model>
<model name="bishop">
<pose>0.3 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
<include>
<name>bishop</name>
<uri>model://bishop</uri>
</include>
</model>
</world>
</sdf>

32
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<sdf version="1.7">
<world name="empty">
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"></atmosphere>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="assembly">
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
</link>
<include>
<name>board</name>
<uri>/board</uri>
<pose>-0.0 -0.0 -0.0 0.0 0.0 -89.99999999999999</pose>
</include>
<include>
<name>bishop</name>
<uri>/bishop</uri>
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
</include>
<include>
<name>king</name>
<uri>/king</uri>
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
</model>
</world>
</sdf>

101
asp-example/sdf_generation/asm4.sdf Normal file
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<sdf version="1.7">
<world name="empty">
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"></atmosphere>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode></ode>
</friction>
<bounce></bounce>
<contact></contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<model name="assembly">
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
</link>
<include>
<name>board</name>
<uri>/board</uri>
<pose>-0.0 -0.0 -0.0 0.0 0.0 -89.99999999999999</pose>
</include>
<include>
<name>bishop</name>
<uri>/bishop</uri>
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
</include>
<include>
<name>king</name>
<uri>/king</uri>
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
<include>
<name>knight</name>
<uri>/knight</uri>
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
<joint name="7fe80514-8b61-4079-9664-b66383ad9fad" type="fixed">
<parent>base_link</parent>
<child>bishop::bishop</child>
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
</joint>
<joint name="b9f50644-ac2e-4026-954d-fc7b364fa734" type="fixed">
<parent>base_link</parent>
<child>king::king</child>
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</joint>
<joint name="7946c89f-4145-46bd-ab88-e080d39de104" type="fixed">
<parent>base_link</parent>
<child>knight::knight</child>
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</joint>
</model>
</world>
</sdf>

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<sdf version="1.7">
<world name="empty">
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"></atmosphere>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode></ode>
</friction>
<bounce></bounce>
<contact></contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<model name="assembly">
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
</link>
<include>
<name>board</name>
<uri>/board</uri>
<pose>-0.0 -0.0 -0.0 0.0 0.0 -89.99999999999999</pose>
</include>
<include>
<name>bishop</name>
<uri>/bishop</uri>
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
</include>
<include>
<name>king</name>
<uri>/king</uri>
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
<include>
<name>knight</name>
<uri>/knight</uri>
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
<include>
<name>queen</name>
<uri>/queen</uri>
<pose>5.4000000000000005e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</include>
<joint name="bdf1ee76-2a94-404b-8b17-60ed3d3ba0df" type="fixed">
<parent>base_link</parent>
<child>bishop::bishop</child>
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
</joint>
<joint name="91bdb776-cc9f-474e-8672-76ade1b0cc82" type="fixed">
<parent>base_link</parent>
<child>king::king</child>
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</joint>
<joint name="c19e982c-d29e-43ca-b398-0aa520e30406" type="fixed">
<parent>base_link</parent>
<child>knight::knight</child>
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</joint>
<joint name="07ca4e03-6e21-4f13-a7f0-189cec5b6775" type="fixed">
<parent>base_link</parent>
<child>queen::queen</child>
<pose>5.4000000000000005e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
</joint>
</model>
</world>
</sdf>

26
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<sdf version="1.7">
<world name="empty">
<model name="assembly">
<pose>0.0 0.0 0.0 0.0 0.0 -89.99999999999999</pose>
<include>
<name>board</name>
<uri>/board</uri>
</include>
</model>
<model name="bishop">
<pose>1.800 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
<include>
<name>bishop</name>
<uri>/bishop</uri>
</include>
</model>
<model name="king">
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
<include>
<name>king</name>
<uri>/king</uri>
</include>
</model>
</world>
</sdf>

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asp-example/sdf_generation/bishop/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>bishop</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@yandex.com</email>
</author>
<description>
bishop
</description>
</model>

25
asp-example/sdf_generation/bishop/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="bishop">
<pose>0 0 0 0 0 0</pose>
<static>false</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>meshes/bishop.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>meshes/bishop.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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b1c8392466ab2f17e27eaa5e6d79f4be

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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
</contributor>
<created>2023-12-13T15:24:32</created>
<modified>2023-12-13T15:24:32</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="black-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.01 0.01 0.01 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
<effect id="white-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.9 0.9 0.9 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images/>
<library_materials>
<material id="black-material" name="black">
<instance_effect url="#black-effect"/>
</material>
<material id="white-material" name="white">
<instance_effect url="#white-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Plane_006-mesh" name="Plane.006">
<mesh>
<source id="Plane_006-mesh-positions">
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4 0 1 2 3
4 4 5 6 7
4 8 9 10 11
4 12 13 14 15
4 16 17 18 19
4 20 21 22 23
4 24 25 26 27
4 28 29 30 31
4 32 33 34 35
4 36 37 38 39
4 40 41 42 43
4 44 45 46 47
4 48 49 50 51
4 52 53 54 55
4 56 57 58 59
4 60 61 62 63
4 64 65 66 67
4 68 69 70 71
4 72 73 74 75
4 76 77 78 79
4 80 81 82 83
4 84 85 86 87
4 88 89 90 91
4 92 93 94 95
4 96 97 98 99
4 100 101 102 103
4 104 105 106 107
4 108 109 110 111
4 112 113 114 115
4 116 117 118 119
4 120 121 122 123
4 124 125 126 127
4 125 124 121 94
4 128 129 98 103
4 25 130 29 26
4 1 8 5 2
4 10 41 6 11
4 13 12 9 16
4 18 49 14 19
4 18 17 24 27
4 32 131 2 7
4 65 64 132 34
4 43 34 7 40
4 72 43 44 73
4 65 72 69 66
4 73 80 77 74
4 45 44 41 14
4 53 52 49 22
4 22 21 26 31
4 58 89 54 59
4 133 58 31 134
4 89 135 93 90
4 66 97 96 67
4 104 75 76 105
4 97 104 101 98
4 82 113 78 83
4 113 120 117 114
4 92 95 120 85
4 108 111 136 101
4 137 115 116 138
4 122 139 118 123
4 80 51 52 81
4 81 88 85 82
4 105 112 109 106

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asp-example/sdf_generation/board/meshes/board.stl Normal file
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16
asp-example/sdf_generation/board/model.config Normal file
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@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>board</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@yandex.com</email>
</author>
<description>
board
</description>
</model>

17
asp-example/sdf_generation/board/model.sdf Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="board">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>meshes/board.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

1
asp-example/sdf_generation/board/model.sdf.md5 Normal file
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@ -0,0 +1 @@
abb14cd4eb3d527058fdf2ef14f4a42e

101
asp-example/sdf_generation/king/meshes/king.dae Normal file
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asp-example/sdf_generation/king/meshes/king.fbx Normal file
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