update scene
- update to new bunker poses - remove condition and add repeat decorator - update grasping positions due to the new bunker model - format gazebo world file xml and update positions of new scene
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255c7b1b18
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5 changed files with 116 additions and 104 deletions
BIN
rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL
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rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL
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@ -6,41 +6,41 @@
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<visual name="bunker_visual">
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<geometry>
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<mesh>
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<uri>model://bunker/meshes/bunker.stl</uri>
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<uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
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</mesh>
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</geometry>
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<!-- <material> -->
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<!-- <diffuse>1 1 1 1</diffuse> -->
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<!-- <ambient>1 1 1 1</ambient> -->
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<!-- <specular>0.5 0.5 0.5 1</specular> -->
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<!-- <emissive>0 0 0 1</emissive> -->
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<!-- <texture> -->
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<!-- <diffuse_map>model://bunker/textures/shildik_sh.png</diffuse_map> -->
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<!-- </texture> -->
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<!-- <pbr> -->
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<!-- <metal> -->
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<!-- <albedo_map>model://bunker/textures/shildik_sh_d.png</albedo_map> -->
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<!-- <normal_map>model://bunker/textures/shildik_sh_n.png</normal_map> -->
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<!-- <roughness_map>model://bunker/textures/shildik_sh_r.png</roughness_map> -->
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<!-- <metalness_map>model://bunker/textures/shildik_sh_m.png</metalness_map> -->
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<!-- <ambient_occlusion_map>model://bunker/textures/shildik_sh_o.png</ambient_occlusion_map> -->
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<!-- </metal> -->
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<!-- </pbr> -->
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<!-- </material> -->
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<material>
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<diffuse>1 1 1 1</diffuse>
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<ambient>1 1 1 1</ambient>
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<specular>0.5 0.5 0.5 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<collision name="laser_collision">
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<collision name="bunker_collision">
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<geometry>
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<mesh>
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<uri>model://bunker/meshes/bunker.stl</uri>
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<uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode />
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<ode>
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<kp>1e6</kp>
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<kd>1e3</kd>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<bounce />
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<bounce>
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<restitution>0.3</restitution>
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</bounce>
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<friction>
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<ode />
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<ode>
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<mu>0.61</mu>
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<mu2>0.47</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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@ -1,8 +1,9 @@
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<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="Main">
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<Repeat num_cycles="5">
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<Sequence>
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<Condition ID="IsInPose" topic_name="/ee_pose"/>
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<!-- <Condition ID="IsInPose" topic_name="/ee_pose"/> -->
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<SubTree ID="ToGraver" robot_name="arm" />
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<Action ID="GetNamedPose" pose_name="waiting" output_pose="{named_pose}"
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@ -13,10 +14,11 @@
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<Delay delay_msec="2000">
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<SubTree ID="FromGraver" robot_name="arm" />
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</Delay>
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<Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3"
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robot_name="arm" action_name="/mtjs_jtc" />
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<!-- <Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3" -->
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<!-- robot_name="arm" action_name="/mtjs_jtc" /> -->
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</Sequence>
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</Repeat>
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</BehaviorTree>
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</root>
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@ -3,7 +3,7 @@ to_graver:
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position:
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x: -0.3
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y: -0.20
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z: 0.1
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z: 0.2
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orientation:
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x: 0.707
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y: -0.707
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@ -23,7 +23,7 @@ to_graver:
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position:
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x: -0.3
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y: -0.20
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z: 0.1
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z: 0.2
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orientation:
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x: 0.707
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y: -0.707
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@ -96,7 +96,7 @@ from_graver:
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position:
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x: -0.3
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y: 0.20
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z: 0.1
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z: 0.2
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orientation:
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x: 0.707
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y: -0.707
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@ -116,7 +116,7 @@ from_graver:
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position:
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x: -0.3
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y: 0.20
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z: 0.1
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z: 0.2
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orientation:
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x: 0.707
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y: -0.707
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@ -37,7 +37,7 @@
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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name="gz::sim::systems::Contact">
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</plugin>
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<light type="directional" name="sun">
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@ -56,27 +56,27 @@
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<include>
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<name>shildik_0</name>
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<pose>-0.5 -0.2 0.0 0 0 1.57</pose>
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<pose>-0.5 -0.2 0.02 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_1</name>
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<pose>-0.5 -0.2 0.0 0 0 1.57</pose>
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<pose>-0.5 -0.2 0.04 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_2</name>
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<pose>-0.5 -0.2 0.0 0 0 1.57</pose>
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<pose>-0.5 -0.2 0.05 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_3</name>
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<pose>-0.5 -0.2 0.0 0 0 1.57</pose>
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<pose>-0.5 -0.2 0.06 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_4</name>
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<pose>-0.5 -0.2 0.0 0 0 1.57</pose>
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<pose>-0.5 -0.2 0.07 0 0 1.57</pose>
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<uri>model://shildik</uri>
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</include>
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@ -86,67 +86,67 @@
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<uri>model://laser</uri>
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</include>
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<!-- <include> -->
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<!-- <static>true</static> -->
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<!-- <pose>0.0 -0.3 0.0752 1.57 0 3.14159</pose> -->
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<!-- <uri>model://bunker</uri> -->
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<!-- </include> -->
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<include>
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<static>true</static>
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<pose>-0.505 -0.20 0.06 0.0 0.0 1.57</pose>
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<uri>model://bunker</uri>
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</include>
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<model name="rgbd_camera">
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<pose>0 -0.93 0.42 0 0.4 1.81</pose>
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<static>1</static>
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<link name="rgbd_camera">
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<model name="rgbd_camera">
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<pose>0 -0.93 0.42 0 0.4 1.81</pose>
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<static>1</static>
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<link name="rgbd_camera">
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<!-- Visual -->
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<visual name="visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0 0 0 1</diffuse>
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<specular>0 0 0 1</specular>
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</material>
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</visual>
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<!-- Visual -->
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<visual name="visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 0 1</ambient>
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<diffuse>0 0 0 1</diffuse>
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<specular>0 0 0 1</specular>
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</material>
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</visual>
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<!-- Collision -->
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<collision name="collision">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<!-- Collision -->
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<collision name="collision">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<!-- RGBD Sensor -->
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<sensor name="rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>3</far>
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</clip>
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<depth_camera>
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<output>depth</output>
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</depth_camera>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>/rgbd_camera/image</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model>
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<!-- RGBD Sensor -->
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<sensor name="rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>3</far>
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</clip>
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<depth_camera>
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<output>depth</output>
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</depth_camera>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>/rgbd_camera/image</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model>
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<model name="table">
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@ -174,10 +174,20 @@
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</geometry>
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<surface>
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<friction>
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<ode/>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<bounce/>
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<contact/>
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<bounce />
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<contact>
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<ode>
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<soft_cfm>0.00001</soft_cfm>
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<soft_erp>0.8</soft_erp>
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<kp>1e5</kp>
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<kd>1e3</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='table_link_visual'>
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@ -187,17 +197,17 @@
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<material>
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<diffuse>0 0 1 1</diffuse>
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<ambient>0 0 1 1</ambient>
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</material>
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<material>
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<diffuse>0.6 0.4 0.2 1</diffuse>
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<ambient>0.6 0.4 0.2 1</ambient>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<enable_wind>false</enable_wind>
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</link>
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</model>
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</world>
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</sdf>
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