mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
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Merge branch 'GEAR_arm_controller' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR_arm_controller
This commit is contained in:
Sravan Balaji
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<?xml version="1.0" ?>
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<model>
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<name>generic_recyclable</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>
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104
src/rrrobot_ws/src/gazebo_models/generic_recyclable/model.sdf
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104
src/rrrobot_ws/src/gazebo_models/generic_recyclable/model.sdf
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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='generic_recyclable'>
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<link name='link'>
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<inertial>
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<mass>0.208095</mass>
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<inertia>
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<ixx>0.0180922</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0180922</iyy>
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<iyz>0</iyz>
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<izz>0.0346825</izz>
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</inertia>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</inertial>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<gravity>1</gravity>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<shader type='pixel'>
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<normal_map>__default__</normal_map>
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</shader>
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<ambient>0 1 0 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</surface>
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</collision>
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</link>
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<static>0</static>
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<allow_auto_disable>1</allow_auto_disable>
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</model>
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</sdf>
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11
src/rrrobot_ws/src/gazebo_models/generic_trash/model.config
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11
src/rrrobot_ws/src/gazebo_models/generic_trash/model.config
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@@ -0,0 +1,11 @@
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<?xml version="1.0" ?>
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<model>
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<name>generic_trash</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>
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104
src/rrrobot_ws/src/gazebo_models/generic_trash/model.sdf
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104
src/rrrobot_ws/src/gazebo_models/generic_trash/model.sdf
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@@ -0,0 +1,104 @@
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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='generic_trash'>
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<link name='link'>
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<inertial>
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<mass>0.208095</mass>
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<inertia>
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<ixx>0.0180922</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0180922</iyy>
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<iyz>0</iyz>
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<izz>0.0346825</izz>
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</inertia>
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<pose frame=''>0 0 0 0 -0 0</pose>
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</inertial>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<gravity>1</gravity>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<shader type='pixel'>
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<normal_map>__default__</normal_map>
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</shader>
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<ambient>1 0 0 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</surface>
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</collision>
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</link>
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<static>0</static>
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<allow_auto_disable>1</allow_auto_disable>
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</model>
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</sdf>
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