diff --git a/fetch_gazebo/launch/picktobin_playground.launch b/fetch_gazebo/launch/picktobin_playground.launch new file mode 100644 index 0000000..ef3c076 --- /dev/null +++ b/fetch_gazebo/launch/picktobin_playground.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/fetch_gazebo/worlds/test_zone_pick_to_bin.sdf b/fetch_gazebo/worlds/test_zone_pick_to_bin.sdf new file mode 100644 index 0000000..e032f73 --- /dev/null +++ b/fetch_gazebo/worlds/test_zone_pick_to_bin.sdf @@ -0,0 +1,57 @@ + + + + + model://ground_plane + + + model://sun + + + model://test_zone + + + model://cafe_table + table1 + 1.008266 0 -0.08 0 0 0 + + + model://demo_cube + demo_cube_blue + 0.64728 0.363 0.722999 0 0 0 + + + + model://demo_cube_green + demo_cube_green + 0.64728 -0.213097 0.722999 0 0 0 + + + + + model://50mmbin_green + 50mmbin_green + 0.877488 0.363 0.694133 0 0 -1.57 + + + + model://50mmbin + 50mmbin_blue + 0.877488 -0.316133 0.696021 0 0 -1.57 + + + + 1.2489 0.0 4.0 0 0 0 + + + + + + diff --git a/fetch_gazebo_demo/launch/demo.launch b/fetch_gazebo_demo/launch/demo.launch index 6eadf1e..616032b 100644 --- a/fetch_gazebo_demo/launch/demo.launch +++ b/fetch_gazebo_demo/launch/demo.launch @@ -5,6 +5,7 @@ + diff --git a/fetchit_challenge/models/50mmbin_green/meshes/50mm.stl b/fetchit_challenge/models/50mmbin_green/meshes/50mm.stl new file mode 100644 index 0000000..67e0b83 Binary files /dev/null and b/fetchit_challenge/models/50mmbin_green/meshes/50mm.stl differ diff --git a/fetchit_challenge/models/50mmbin_green/meshes/50mm_green.dae b/fetchit_challenge/models/50mmbin_green/meshes/50mm_green.dae new file mode 100644 index 0000000..3570de7 --- /dev/null +++ b/fetchit_challenge/models/50mmbin_green/meshes/50mm_green.dae @@ -0,0 +1,293 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2019-03-27T15:13:05 + 2019-03-27T15:13:05 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + 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duckfrost@theconstructsim.com + + model.sdf + + 50mm bin extracted from ThingiVerse: https://www.thingiverse.com/thing:14258, + Created by user: Mathew Laberge https://www.thingiverse.com/matthewlaberge/about + + diff --git a/fetchit_challenge/models/50mmbin_green/model.sdf b/fetchit_challenge/models/50mmbin_green/model.sdf new file mode 100644 index 0000000..475e67a --- /dev/null +++ b/fetchit_challenge/models/50mmbin_green/model.sdf @@ -0,0 +1,50 @@ + + + + 1 + + + 0.0189132 + + 3.36060179959e-06 + 0.000000 + 0.000000 + 3.36060179959e-06 + 0.000000 + 1.34975977923e-06 + + + + + + model://50mmbin_green/meshes/50mm.stl + 1 1 1 + + + + + + 30.0 + 30.0 + + + + + + + + model://50mmbin_green/meshes/50mm_green.dae + 1 1 1 + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/fetchit_challenge/models/50mmbin_red/meshes/50mm.stl b/fetchit_challenge/models/50mmbin_red/meshes/50mm.stl new file mode 100644 index 0000000..67e0b83 Binary files /dev/null and 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+ + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.003999949 0 0 0 0 0.003999949 0 0 0 0 0.003999949 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/fetchit_challenge/models/50mmbin_yellow/model.config b/fetchit_challenge/models/50mmbin_yellow/model.config new file mode 100644 index 0000000..ab7da4b --- /dev/null +++ b/fetchit_challenge/models/50mmbin_yellow/model.config @@ -0,0 +1,14 @@ + + + 50mmbin_yellow + 0.1.0 + + Miguel Angel Rodriguez + duckfrost@theconstructsim.com + + model.sdf + + 50mm bin extracted from ThingiVerse: https://www.thingiverse.com/thing:14258, + Created by user: Mathew Laberge https://www.thingiverse.com/matthewlaberge/about + + diff --git a/fetchit_challenge/models/50mmbin_yellow/model.sdf b/fetchit_challenge/models/50mmbin_yellow/model.sdf new file mode 100644 index 0000000..65ebb3d --- /dev/null +++ b/fetchit_challenge/models/50mmbin_yellow/model.sdf @@ -0,0 +1,50 @@ + + + + 1 + + + 0.0189132 + + 3.36060179959e-06 + 0.000000 + 0.000000 + 3.36060179959e-06 + 0.000000 + 1.34975977923e-06 + + + + + + model://50mmbin_yellow/meshes/50mm.stl + 1 1 1 + + + + + + 30.0 + 30.0 + + + + + + + + model://50mmbin_yellow/meshes/50mm_yellow.dae + 1 1 1 + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/fetchit_challenge/models/demo_cube/model.config b/fetchit_challenge/models/demo_cube/model.config new file mode 100644 index 0000000..2cf8707 --- /dev/null +++ b/fetchit_challenge/models/demo_cube/model.config @@ -0,0 +1,13 @@ + + + demo_cube + 0.1.0 + + Michael Ferguson + mferguson@fetchrobotics.com + + model.sdf + + A strangely familar cube. + + diff --git a/fetchit_challenge/models/demo_cube/model.sdf b/fetchit_challenge/models/demo_cube/model.sdf new file mode 100644 index 0000000..e482392 --- /dev/null +++ b/fetchit_challenge/models/demo_cube/model.sdf @@ -0,0 +1,62 @@ + + + + 0 + + + 0.25 + + 0.001 + 0.000000 + 0.000000 + 0.001 + 0.000000 + 0.001 + + + + + + 0.060 0.060 0.060 + + + + + + 60.0 + 60.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.002 + + + + + + + + 0.060 0.060 0.060 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/fetchit_challenge/models/demo_cube_green/model.config b/fetchit_challenge/models/demo_cube_green/model.config new file mode 100644 index 0000000..ed6d284 --- /dev/null +++ b/fetchit_challenge/models/demo_cube_green/model.config @@ -0,0 +1,13 @@ + + + demo_cube_green + 0.1.0 + + Michael Ferguson + mferguson@fetchrobotics.com + + model.sdf + + A strangely familar cube. + + diff --git a/fetchit_challenge/models/demo_cube_green/model.sdf b/fetchit_challenge/models/demo_cube_green/model.sdf new file mode 100644 index 0000000..9fa9511 --- /dev/null +++ b/fetchit_challenge/models/demo_cube_green/model.sdf @@ -0,0 +1,62 @@ + + + + 0 + + + 0.25 + + 0.001 + 0.000000 + 0.000000 + 0.001 + 0.000000 + 0.001 + + + + + + 0.060 0.060 0.060 + + + + + + 60.0 + 60.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.002 + + + + + + + + 0.060 0.060 0.060 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/fetchit_challenge/models/demo_cube_red/model.config b/fetchit_challenge/models/demo_cube_red/model.config new file mode 100644 index 0000000..2d69b06 --- /dev/null +++ b/fetchit_challenge/models/demo_cube_red/model.config @@ -0,0 +1,13 @@ + + + demo_cube_red + 0.1.0 + + Michael Ferguson + mferguson@fetchrobotics.com + + model.sdf + + A strangely familar cube. + + diff --git a/fetchit_challenge/models/demo_cube_red/model.sdf b/fetchit_challenge/models/demo_cube_red/model.sdf new file mode 100644 index 0000000..cefd66f --- /dev/null +++ b/fetchit_challenge/models/demo_cube_red/model.sdf @@ -0,0 +1,62 @@ + + + + 0 + + + 0.25 + + 0.001 + 0.000000 + 0.000000 + 0.001 + 0.000000 + 0.001 + + + + + + 0.060 0.060 0.060 + + + + + + 30.0 + 30.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.002 + + + + + + + + 0.060 0.060 0.060 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/fetchit_challenge/models/demo_cube_yellow/model.config b/fetchit_challenge/models/demo_cube_yellow/model.config new file mode 100644 index 0000000..01ae26a --- /dev/null +++ b/fetchit_challenge/models/demo_cube_yellow/model.config @@ -0,0 +1,13 @@ + + + demo_cube_yellow + 0.1.0 + + Michael Ferguson + mferguson@fetchrobotics.com + + model.sdf + + A strangely familar cube. + + diff --git a/fetchit_challenge/models/demo_cube_yellow/model.sdf b/fetchit_challenge/models/demo_cube_yellow/model.sdf new file mode 100644 index 0000000..7a1ae46 --- /dev/null +++ b/fetchit_challenge/models/demo_cube_yellow/model.sdf @@ -0,0 +1,62 @@ + + + + 0 + + + 0.25 + + 0.001 + 0.000000 + 0.000000 + 0.001 + 0.000000 + 0.001 + + + + + + 0.060 0.060 0.060 + + + + + + 30.0 + 30.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.002 + + + + + + + + 0.060 0.060 0.060 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + +