diff --git a/src/gazebo/Dockerfile b/src/gazebo/Dockerfile index 238d984..cfbf4f4 100644 --- a/src/gazebo/Dockerfile +++ b/src/gazebo/Dockerfile @@ -3,4 +3,6 @@ # Use official image for Gazebo 9.x FROM gazebo:gzserver9 +COPY $PWD/gazebo_models /root/.gazebo/models + CMD ["/bin/bash"] diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL new file mode 100644 index 0000000..1cc6dee Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL new file mode 100644 index 0000000..7960a24 Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL new file mode 100644 index 0000000..d81bd58 Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL new file mode 100644 index 0000000..f764555 Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL new file mode 100644 index 0000000..1c02f3f Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL new file mode 100644 index 0000000..3e2ee1c Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL new file mode 100644 index 0000000..6469280 Binary files /dev/null and b/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL differ diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/model.config b/src/gazebo/gazebo_models/fanuc_robotic_arm/model.config new file mode 100644 index 0000000..05b32ed --- /dev/null +++ b/src/gazebo/gazebo_models/fanuc_robotic_arm/model.config @@ -0,0 +1,11 @@ + + + Fanuc_robot_arm + 1.0 + model.sdf + + + + + This was created using parts from a CAD model on GrabCAD + diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf b/src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf new file mode 100644 index 0000000..ae0a2dd --- /dev/null +++ b/src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf @@ -0,0 +1,902 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-1.79769e+308 + 1.79769e+308 + -2000 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + base + link_1 + 0 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -2000 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_5 + link_6 + 2.065 2.065 -3.5 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -2000 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + world + base + + 0 + 0 + + diff --git a/src/run_rrrobot_image.sh b/src/run_rrrobot_image.sh index 1aef38e..03739a6 100755 --- a/src/run_rrrobot_image.sh +++ b/src/run_rrrobot_image.sh @@ -1,5 +1,5 @@ #docker run -i -h rrrobot-env -t eecs467:rrrobot bash xhost +local:docker #rrrobot-env -docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -h rrrobot-env eecs467:rrrobot +docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v$PWD/gazebo_models:/root/.gazebo/models -h rrrobot-env eecs467:rrrobot xhost -local:docker #rrrobot-env