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Merge pull request #206 from rickstaa/fix_stone_world_models
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fix(franka_gazebo): fix 'stone.world' models
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@marcbone
marcbone authored Dec 10, 2021
2 parents f354b42 + b5d4dc6 commit cbe64f9
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1 change: 1 addition & 0 deletions CHANGELOG.md
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* Make finger collisions primitive in `franka_gazebo`
* add 'gravity_vector' gravity ROS parameter to FrankaHWSim
* Fix "Failed to create robot simulation interface loader" bug when installing from APT
* Improve Gazebo 'stone' world objects

## 0.8.1 - 2021-09-08

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11 changes: 11 additions & 0 deletions franka_gazebo/models/pick_tray/model.config
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<?xml version="1.0" ?>
<model>
<name>pick_tray</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Franka Emika</name>
<email>[email protected]</email>
</author>
<description>Simple blue coloured tray.</description>
</model>
104 changes: 104 additions & 0 deletions franka_gazebo/models/pick_tray/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='pick_tray'>
<link name='link'>
<pose>0.0 0.0 0.011674 0 -0 0</pose>
<inertial>
<!--NOTE: Uses hard wood density (i.e 960 kg/m^3) to calculate the mass
see https://qtimber.daf.qld.gov.au/guides/wood-density-and-hardness
-->
<mass>0.7634836885523328</mass>
<inertia>
<ixx>0.00137101</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00354935</iyy>
<iyz>0</iyz>
<izz>0.00485098</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<pose>0 0 0 0 -0 0</pose>
<visual name='visual'>
<geometry>
<box>
<size>0.235035 0.144926 0.023348</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<shader type='pixel'/>
</material>
<pose>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.235035 0.144926 0.023348</size>
</box>
</geometry>
<surface>
<!--NOTE: Uses dynamic friction of wood on a brick surface
see https://www.engineeringtoolbox.com/friction-coefficients-d_778.html
-->
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
11 changes: 11 additions & 0 deletions franka_gazebo/models/place_tray/model.config
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<?xml version="1.0" ?>
<model>
<name>place_tray</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Franka Emika</name>
<email>[email protected]</email>
</author>
<description>A simple red coloured tray.</description>
</model>
104 changes: 104 additions & 0 deletions franka_gazebo/models/place_tray/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='place_tray'>
<link name='link'>
<pose>0.0 0.0 0.011674 0 -0 0</pose>
<inertial>
<!--NOTE: Uses hard wood density (i.e 960 kg/m^3) to calculate the mass
see https://qtimber.daf.qld.gov.au/guides/wood-density-and-hardness
-->
<mass>0.7634836885523328</mass>
<inertia>
<ixx>0.00137101</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00354935</iyy>
<iyz>0</iyz>
<izz>0.00485098</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<pose>0 0 0 0 -0 0</pose>
<visual name='visual'>
<geometry>
<box>
<size>0.235035 0.144926 0.023348</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<shader type='pixel'/>
</material>
<pose>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.235035 0.144926 0.023348</size>
</box>
</geometry>
<surface>
<!--NOTE: Uses dynamic friction of wood on a brick surface
see https://www.engineeringtoolbox.com/friction-coefficients-d_778.html
-->
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
11 changes: 11 additions & 0 deletions franka_gazebo/models/stone/model.config
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<?xml version="1.0" ?>
<model>
<name>stone</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Franka Emika</name>
<email>[email protected]</email>
</author>
<description>A simple stone.</description>
</model>
104 changes: 104 additions & 0 deletions franka_gazebo/models/stone/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='stone'>
<link name='link'>
<pose>0.0 0.0 0.0 0 -0 0</pose>
<inertial>
<!--NOTE: Uses limestone density (i.e 2000 kg/m^3) to calculate the mass
see https://en.wikipedia.org/wiki/Limestone
-->
<mass>0.08192</mass>
<inertia>
<ixx>3.49525333e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3.06926933e-05</iyy>
<iyz>0</iyz>
<izz>9.72117333e-06</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<enable_wind>0</enable_wind>
<pose>0 0 0 0 -0 0</pose>
<visual name='visual'>
<geometry>
<box>
<size>0.02 0.032 0.064</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
<shader type='pixel'/>
</material>
<pose>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.032 0.064</size>
</box>
</geometry>
<surface>
<!--NOTE: Uses dynamic friction of brick on a wood surface
see https://www.engineeringtoolbox.com/friction-coefficients-d_778.html
-->
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0</max_vel>
<min_depth>0.003</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
11 changes: 11 additions & 0 deletions franka_gazebo/models/table/model.config
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<?xml version="1.0" ?>
<model>
<name>table</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Franka Emika</name>
<email>[email protected]</email>
</author>
<description>A simple table.</description>
</model>
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