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Merge branch 'GEAR_arm_controller' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR_arm_controller

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This commit is contained in:
Sravan Balaji 2020-04-26 23:58:07 -04:00
commit 038c7e90c6
6 changed files with 239 additions and 1 deletions
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3
src/rrrobot_ws/src/gazebo_models/model_mappings.txt
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@ -1,3 +1,6 @@
plastic_bottle,/app/rrrobot_ws/src/gazebo_models/plastic_bottle/images/plastic-bottle-1.jpg,plastic 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 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 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

11
src/rrrobot_ws/src/gazebo_models/pringles/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>pringles</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

224
src/rrrobot_ws/src/gazebo_models/pringles/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='pringles'>
<link name='link_3'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<enable_wind>0</enable_wind>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>0.3</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</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>
<link name='link_4'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<pose frame=''>0 -0 0.15 -0.000193 0.000381 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<enable_wind>0</enable_wind>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.075</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.075</radius>
<length>0.01</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</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>
<joint name='link_3_JOINT_0' type='fixed'>
<parent>link_3</parent>
<child>link_4</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>

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