diff --git a/CHANGELOG.md b/CHANGELOG.md index 83f4b2d08..b7baac45d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,6 +13,7 @@ * 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 diff --git a/franka_gazebo/models/pick_tray/model.config b/franka_gazebo/models/pick_tray/model.config new file mode 100644 index 000000000..3ab7eb58c --- /dev/null +++ b/franka_gazebo/models/pick_tray/model.config @@ -0,0 +1,11 @@ + + + pick_tray + 1.0 + model.sdf + + Franka Emika + support@franka.de + + Simple blue coloured tray. + diff --git a/franka_gazebo/models/pick_tray/model.sdf b/franka_gazebo/models/pick_tray/model.sdf new file mode 100644 index 000000000..3ad696a03 --- /dev/null +++ b/franka_gazebo/models/pick_tray/model.sdf @@ -0,0 +1,104 @@ + + + + + 0.0 0.0 0.011674 0 -0 0 + + + 0.7634836885523328 + + 0.00137101 + 0 + 0 + 0.00354935 + 0 + 0.00485098 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + 0 0 0 0 -0 0 + + + + 0.235035 0.144926 0.023348 + + + + + + + 0 0 0 0 -0 0 + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.235035 0.144926 0.023348 + + + + + + + 0.6 + 0.6 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/franka_gazebo/models/place_tray/model.config b/franka_gazebo/models/place_tray/model.config new file mode 100644 index 000000000..3e44ee5e7 --- /dev/null +++ b/franka_gazebo/models/place_tray/model.config @@ -0,0 +1,11 @@ + + + place_tray + 1.0 + model.sdf + + Franka Emika + support@franka.de + + A simple red coloured tray. + diff --git a/franka_gazebo/models/place_tray/model.sdf b/franka_gazebo/models/place_tray/model.sdf new file mode 100644 index 000000000..b6e85bfb2 --- /dev/null +++ b/franka_gazebo/models/place_tray/model.sdf @@ -0,0 +1,104 @@ + + + + + 0.0 0.0 0.011674 0 -0 0 + + + 0.7634836885523328 + + 0.00137101 + 0 + 0 + 0.00354935 + 0 + 0.00485098 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + 0 0 0 0 -0 0 + + + + 0.235035 0.144926 0.023348 + + + + + + + 0 0 0 0 -0 0 + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.235035 0.144926 0.023348 + + + + + + + 0.6 + 0.6 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/franka_gazebo/models/stone/model.config b/franka_gazebo/models/stone/model.config new file mode 100644 index 000000000..ab10209f0 --- /dev/null +++ b/franka_gazebo/models/stone/model.config @@ -0,0 +1,11 @@ + + + stone + 1.0 + model.sdf + + Franka Emika + support@franka.de + + A simple stone. + diff --git a/franka_gazebo/models/stone/model.sdf b/franka_gazebo/models/stone/model.sdf new file mode 100644 index 000000000..2d5d42aa4 --- /dev/null +++ b/franka_gazebo/models/stone/model.sdf @@ -0,0 +1,104 @@ + + + + + 0.0 0.0 0.0 0 -0 0 + + + 0.08192 + + 3.49525333e-05 + 0 + 0 + 3.06926933e-05 + 0 + 9.72117333e-06 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + 0 0 0 0 -0 0 + + + + 0.02 0.032 0.064 + + + + + + + 0 0 0 0 -0 0 + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.02 0.032 0.064 + + + + + + + 0.6 + 0.6 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0 + 0.003 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/franka_gazebo/models/table/model.config b/franka_gazebo/models/table/model.config new file mode 100644 index 000000000..5bee74f5e --- /dev/null +++ b/franka_gazebo/models/table/model.config @@ -0,0 +1,11 @@ + + + table + 1.0 + model.sdf + + Franka Emika + support@franka.de + + A simple table. + diff --git a/franka_gazebo/models/table/model.sdf b/franka_gazebo/models/table/model.sdf new file mode 100644 index 000000000..3c0f19c51 --- /dev/null +++ b/franka_gazebo/models/table/model.sdf @@ -0,0 +1,98 @@ + + + + + 0 0 0.2099115 0 -0 0 + + 0 0 0 0 -0 0 + 10 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.453157 0.642049 0.419823 + + + + + + + 0 0 0 0 -0 0 + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.453157 0.642049 0.419823 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 1 + 1 + + diff --git a/franka_gazebo/package.xml b/franka_gazebo/package.xml index 901863799..512782024 100644 --- a/franka_gazebo/package.xml +++ b/franka_gazebo/package.xml @@ -43,5 +43,9 @@ + + + + diff --git a/franka_gazebo/world/stone.sdf b/franka_gazebo/world/stone.sdf index e3911a288..38f9c25c3 100644 --- a/franka_gazebo/world/stone.sdf +++ b/franka_gazebo/world/stone.sdf @@ -1,364 +1,36 @@ - 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- - - 3.05099 1.37801 2.56925 - - - 10 - - - - - - - - - - - - - - - - - 3.05099 1.37801 2.56925 - - - - - - - 0 - 0 - 0 - - - - 0.009381 -0.218515 0.445328 -0.000167 -7.4e-05 -0.002119 - - - 1 - - 0.166667 - 0 - 0 - 0.166667 - 0 - 0.166667 - - - - - - 0.235035 0.144926 0.023348 - - - 10 - - - - - - - - - - - - - - - - - 0.235035 0.144926 0.023348 - - - - - - - 0 - 0 - 0 - - + + + + model://pick_tray + 0.008578 -0.215704 0.419773 0 -0 -0 + 1 + + + + model://place_tray + 0.004103 0.219654 0.419764 0 -0 -0 + 1 + + + + model://stone + 0.000286 -0.221972 0.475172 0 -0 -0 +