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Motion planner (MoveIt) and Task planner (Plansys) integration

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Roman Andrianov 2023-04-30 11:46:52 +00:00 • committed by Igor Brylyov
parent 0a735b87c9
commit 000ddb4831
43 changed files with 1402 additions and 379 deletions
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68
rbs_task_planner/example/sdf_models/asm6.sdf Normal file
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<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.7">
<model name="assembly">
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
</link>
<include>
<uri>model://box1</uri>
<name>box1</name>
<pose>-0.45 -0.055 0.46 -3.1415927 0.0 0.0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box2</name>
<pose>-0.45 0.0 0.46 -3.1415927 0.0 0.0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box3</name>
<pose>-0.45 0.055 0.46 -3.1415927 0.0 0.0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box4</name>
<pose>-0.45 0.0275 0.49 -3.1415927 0.0 0.0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box5</name>
<pose>-0.45 -0.0275 0.49 -3.1415927 0.0 0.0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box6</name>
<pose>-0.45 0.0 0.56 -3.1415927 0.0 0.0</pose>
</include>
<joint name="box1" type="fixed">
<parent>base_link</parent>
<child>box1</child>
<pose>-0.45 -0.055 0.46 -3.1415927 0.0 0.0</pose>
</joint>
<joint name="box2" type="fixed">
<parent>base_link</parent>
<child>box2</child>
<pose>-0.45 0.0 0.46 -3.1415927 0.0 0.0</pose>
</joint>
<joint name="box3" type="fixed">
<parent>base_link</parent>
<child>box3</child>
<pose>-0.45 0.055 0.46 -3.1415927 0.0 0.0</pose>
</joint>
<joint name="box4" type="fixed">
<parent>base_link</parent>
<child>box4</child>
<pose>-0.45 0.0275 0.49 -3.1415927 0.0 0.0</pose>
</joint>
<joint name="box5" type="fixed">
<parent>base_link</parent>
<child>box5</child>
<pose>-0.45 -0.0275 0.49 -3.1415927 0.0 0.0</pose>
</joint>
<joint name="box6" type="fixed">
<parent>base_link</parent>
<child>box6</child>
<pose>-0.45 0.0 0.56 -3.1415927 0.0 0.0</pose>
</joint>
</model>
</sdf>