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Add minimal pick-and-place case with world embedded

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Igor Brylyov 2023-03-31 20:24:56 +00:00
parent 209e99a4b3
commit a87fb8a7ec
64 changed files with 2419 additions and 275 deletions
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16
rbs_simulation/models/rack/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>rack</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
rack
</description>
</model>

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rbs_simulation/models/rack/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="rack">
<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>model://rack/model/rack.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://rack/model/rack.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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rbs_simulation/models/rack/model/rack.dae Normal file
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rbs_simulation/models/rack/model/rack.stl Normal file
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rbs_simulation/models/rack/rack.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
<xacro:macro name="rack" params="*origin parent">
<link name="rack_body">
<static>true</static>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://rbs_simulation/rack/model/rack.dae" scale="0.35 0.35 0.35"/>
</geometry>
<material name="asd">
<color rgba="1.0 0.0 0.0 1.0"/>
<texture filename="package://rbs_simulation/rack/model/Metal.jpg"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://rbs_simulation/rack/model/rack.stl" scale="0.35 0.35 0.35"/>
</geometry>
</collision>
</link>
<joint name="rack_base_joint" type="fixed">
<parent link="${parent}" />
<child link="rack_body" />
<xacro:insert_block name="origin" />
</joint>
</xacro:macro>
</robot>