init all components from package via json
This commit is contained in:
Splinter1984
parent
d92b890d55
commit
a9105b3992
27 changed files with 611 additions and 532 deletions
52
sdf_models/models/cube/frames.json
Normal file
52
sdf_models/models/cube/frames.json
Normal file
|
|
@ -0,0 +1,52 @@
|
|||
{
|
||||
"label": "cube",
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"features": {
|
||||
"grasp-poses": {
|
||||
"grasp-pose-1": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
},
|
||||
"grasp-pose-2": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,116 +1,52 @@
|
|||
{
|
||||
"label": "motor_optimization",
|
||||
"placement": {
|
||||
"origin": [
|
||||
1.0,
|
||||
0.1,
|
||||
1.0
|
||||
],
|
||||
"rotation": {
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"angle": 0.0
|
||||
}
|
||||
},
|
||||
"boundingbox": [
|
||||
-0.03475,
|
||||
0.03475,
|
||||
-0.020700000000000003,
|
||||
0.0034000000000000002,
|
||||
-0.03475,
|
||||
0.03475
|
||||
],
|
||||
"volume": 8.171242567580266e-05,
|
||||
"centerofmass": [
|
||||
5.493981864842095e-17,
|
||||
-0.008572881976147041,
|
||||
-1.7154372714977097e-16
|
||||
],
|
||||
"principalproperties": {
|
||||
"symmetryaxis": true,
|
||||
"symmetrypoint": false,
|
||||
"moments": [
|
||||
54029950.78890637,
|
||||
30986549.78856254,
|
||||
30986549.788562525
|
||||
],
|
||||
"firstaxisofinertia": [
|
||||
7.05802087519928e-20,
|
||||
0.001,
|
||||
-5.197772569664537e-20
|
||||
],
|
||||
"secondaxisofinertia": [
|
||||
0.0008959395923673914,
|
||||
-4.01483493908005e-20,
|
||||
0.00044417591878506067
|
||||
],
|
||||
"thirdaxisofinertia": [
|
||||
-0.00044417591878506067,
|
||||
7.79189314432943e-20,
|
||||
0.0008959395923673914
|
||||
],
|
||||
"radiusofgyration": [
|
||||
25.71421285296883,
|
||||
19.473434746697173,
|
||||
19.473434746697166
|
||||
]
|
||||
},
|
||||
"features": {
|
||||
"grasp-pose": {
|
||||
"label": "grasp-pose-1",
|
||||
"placement": {
|
||||
"origin": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"rotation": {
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"angle": 0.0
|
||||
"label": "stator_3507",
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"features": {
|
||||
"grasp-poses": {
|
||||
"grasp-pose-1": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
},
|
||||
"grasp-pose-2": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"axis": [
|
||||
-0.0,
|
||||
-1.0,
|
||||
-0.0
|
||||
],
|
||||
"radius": 0.03475,
|
||||
"center": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"parameterrange": [
|
||||
0.0,
|
||||
3.141592653589793,
|
||||
-0.0023999999999999924,
|
||||
0.019699999999999974
|
||||
],
|
||||
"part": "motor_optimization",
|
||||
"featureplacement": {
|
||||
"origin": [
|
||||
0.02867919921875,
|
||||
-0.0006364490985870362,
|
||||
-0.019396091461181642
|
||||
],
|
||||
"rotation": {
|
||||
"axis": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"angle": 0.0
|
||||
}
|
||||
},
|
||||
"shapetype": "Face",
|
||||
"positioning": "PickedPoint"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
52
sdf_models/models/stator_3508/frames.json
Normal file
52
sdf_models/models/stator_3508/frames.json
Normal file
|
|
@ -0,0 +1,52 @@
|
|||
{
|
||||
"label": "stator_3508",
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 1.0,
|
||||
"y": 1.0,
|
||||
"z": 1.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 1.0,
|
||||
"y": 1.0,
|
||||
"z": 1.0,
|
||||
"w": 1.0
|
||||
}
|
||||
},
|
||||
"features": {
|
||||
"grasp-poses": {
|
||||
"grasp-pose-1": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.1,
|
||||
"y": 0.1,
|
||||
"z": 0.1
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.1,
|
||||
"y": 0.1,
|
||||
"z": 0.1,
|
||||
"w": 0.1
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
},
|
||||
"grasp-pose-2": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.1
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
51
sdf_models/models/stator_3508/meshes/stator_3507.dae
Normal file
51
sdf_models/models/stator_3508/meshes/stator_3507.dae
Normal file
File diff suppressed because one or more lines are too long
11
sdf_models/models/stator_3508/model.config
Normal file
11
sdf_models/models/stator_3508/model.config
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>stator_3507</name>
|
||||
<version>Version</version>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Author</name>
|
||||
<email>Email</email>
|
||||
</author>
|
||||
<description>Comment</description>
|
||||
</model>
|
||||
39
sdf_models/models/stator_3508/model.sdf
Normal file
39
sdf_models/models/stator_3508/model.sdf
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="stator_3507">
|
||||
<pose>0.015815 -0.019409 0.063983 0.000000 0.000000 0.000000</pose>
|
||||
<static>false</static>
|
||||
<self_collide>false</self_collide>
|
||||
<link name="stator_3507">
|
||||
<pose>0.008103 0.021435 -0.039983 0.000000 -0.000000 -0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000</pose>
|
||||
<mass>0.005709</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>-0.000000</ixy>
|
||||
<ixz>-0.000000</ixz>
|
||||
<iyy>0.000002</iyy>
|
||||
<iyz>-0.000000</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="stator_3507_visual">
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://stator_3507\meshes\stator_3507.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="stator_3507_collision">
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://stator_3507\meshes\stator_3507.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
Loading…
Add table
Add a link
Reference in a new issue