diff --git a/src/rrrobot_ws/src/gazebo_models/model_mappings.txt b/src/rrrobot_ws/src/gazebo_models/model_mappings.txt index 9f6276a..8227a1e 100644 --- a/src/rrrobot_ws/src/gazebo_models/model_mappings.txt +++ b/src/rrrobot_ws/src/gazebo_models/model_mappings.txt @@ -1,3 +1,6 @@ plastic_bottle,/app/rrrobot_ws/src/gazebo_models/plastic_bottle/images/plastic-bottle-1.jpg,plastic paper_bag,/app/rrrobot_ws/src/gazebo_models/paper_bag/images/paper-bag-1.jpg,paper -pop_can,/app/rrrobot_ws/src/gazebo_models/pop_can/images/pop-can-1.jpg,metal \ No newline at end of file +pop_can,/app/rrrobot_ws/src/gazebo_models/pop_can/images/pop-can-1.jpg,metal +unit_box,/app/rrrobot_ws/src/gazebo_models/trash_images/chips-1.jpg,trash +unit_box,/app/rrrobot_ws/src/gazebo_models/trash_images/chips-2.jpeg,trash +pringles,/app/rrrobot_ws/src/gazebo_models/trash_images/chips-3.jpg,trash \ No newline at end of file diff --git a/src/rrrobot_ws/src/gazebo_models/pringles/model.config b/src/rrrobot_ws/src/gazebo_models/pringles/model.config new file mode 100644 index 0000000..4dbc164 --- /dev/null +++ b/src/rrrobot_ws/src/gazebo_models/pringles/model.config @@ -0,0 +1,11 @@ + + + pringles + 1.0 + model.sdf + + + + + + diff --git a/src/rrrobot_ws/src/gazebo_models/pringles/model.sdf b/src/rrrobot_ws/src/gazebo_models/pringles/model.sdf new file mode 100644 index 0000000..3fb4425 --- /dev/null +++ b/src/rrrobot_ws/src/gazebo_models/pringles/model.sdf @@ -0,0 +1,224 @@ + + + + + + 1 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.07 + 0.3 + + + + 1 + + + __default__ + + 1 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.07 + 0.3 + + + + + + 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 + + + + + + + + 0 + + 0 + 0 + 0 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + 0 -0 0.15 -0.000193 0.000381 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.075 + 0.01 + + + + 1 + + + __default__ + + 1 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.075 + 0.01 + + + + + + 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 + + + + + + + link_3 + link_4 + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + + diff --git a/src/rrrobot_ws/src/gazebo_models/trash_images/chips-1.jpg b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-1.jpg new file mode 100644 index 0000000..33db181 Binary files /dev/null and b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-1.jpg differ diff --git a/src/rrrobot_ws/src/gazebo_models/trash_images/chips-2.jpeg b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-2.jpeg new file mode 100644 index 0000000..cba6681 Binary files /dev/null and b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-2.jpeg differ diff --git a/src/rrrobot_ws/src/gazebo_models/trash_images/chips-3.jpg b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-3.jpg new file mode 100644 index 0000000..5aeb7ce Binary files /dev/null and b/src/rrrobot_ws/src/gazebo_models/trash_images/chips-3.jpg differ