Add models for box lifting with the dual-Jaco and torso (pangtao22#8)

JoseBarreiros-TRI · Jan 31, 2023 · 7776f8f · 7776f8f
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diff --git a/models/box_30_40_40cm.sdf b/models/box_30_40_40cm.sdf
@@ -0,0 +1,115 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="large_box">
+    <!-- The model for a solid box of uniform density. -->
+    <link name="box">
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.13333333333333336</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.10416666666666666</iyy>
+          <iyz>0</iyz>
+          <izz>0.10416666666666666</izz>
+        </inertia>
+      </inertial>
+
+      <visual name="box_visual">
+        <geometry>
+          <box>
+            <size>0.30 0.40 0.40</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.9 0.9 0.9 0.9</diffuse>
+        </material>
+      </visual>
+
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.30 0.40 0.40</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+      <collision name="minus_x_lower_left_corner">
+        <pose> -0.15 -0.20 -0.20 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>1e-7</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+      <collision name="minus_x_lower_right_corner">
+        <pose> 0.15 -0.20 -0.20 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>1e-7</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+      <collision name="plus_x_lower_left_corner">
+        <pose> -0.15 0.20 -0.20 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>1e-7</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+      <collision name="plus_x_lower_right_corner">
+        <pose> 0.15 0.20 -0.20 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>1e-7</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.5</mu>
+              <mu2>0.5</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+    </link>
+  </model>
+</sdf>
diff --git a/models/dual_jaco_torso_sphere_collision_push.yml b/models/dual_jaco_torso_sphere_collision_push.yml
@@ -0,0 +1,46 @@
+directives:
+- add_directives:
+    file: package://quasistatic_simulator/ground.yml
+
+- add_model:
+    name: jaco_left
+    file: package://quasistatic_simulator/j2s7s300_arm_sphere_link_collisions_v2.sdf
+
+- add_model:
+    name: jaco_right
+    file: package://quasistatic_simulator/j2s7s300_arm_sphere_link_collisions_v2.sdf
+
+- add_model:
+    name: torso
+    file: package://quasistatic_simulator/torso_0.4_0.1_0.5.sdf
+
+- add_frame:
+    name: world_left_arm_offset
+    X_PF:
+        base_frame: world
+        translation: [0, 0.28, 0]
+
+- add_frame:
+    name: world_right_arm_offset
+    X_PF:
+        base_frame: world
+        translation: [0, -0.28, 0]
+
+- add_frame:
+    name: world_torso
+    X_PF:
+        base_frame: world
+        translation: [-0.03, 0, 0.20]
+        rotation: !Rpy {deg: [0., 0.0,90.0]}
+
+- add_weld:
+    parent: world_left_arm_offset
+    child: jaco_left::base
+
+- add_weld:
+    parent: world_right_arm_offset
+    child: jaco_right::base
+
+- add_weld:
+    parent: world_torso
+    child: torso::base
diff --git a/models/dual_jaco_torso_sphere_collision_push_no_ground.yml b/models/dual_jaco_torso_sphere_collision_push_no_ground.yml
@@ -0,0 +1,43 @@
+directives:
+- add_model:
+    name: jaco_left
+    file: package://quasistatic_simulator/j2s7s300_arm_sphere_link_collisions_v2.sdf
+
+- add_model:
+    name: jaco_right
+    file: package://quasistatic_simulator/j2s7s300_arm_sphere_link_collisions_v2.sdf
+
+- add_model:
+    name: torso
+    file: package://quasistatic_simulator/torso_0.4_0.1_0.5.sdf
+
+- add_frame:
+    name: world_left_arm_offset
+    X_PF:
+        base_frame: world
+        translation: [0, 0.28, 0]
+
+- add_frame:
+    name: world_right_arm_offset
+    X_PF:
+        base_frame: world
+        translation: [0, -0.28, 0]
+
+- add_frame:
+    name: world_torso
+    X_PF:
+        base_frame: world
+        translation: [-0.03, 0, 0.20]
+        rotation: !Rpy {deg: [0., 0.0, 90.0]}
+
+- add_weld:
+    parent: world_left_arm_offset
+    child: jaco_left::base
+
+- add_weld:
+    parent: world_right_arm_offset
+    child: jaco_right::base
+
+- add_weld:
+    parent: world_torso
+    child: torso::base
diff --git a/models/j2s7s300_arm_sphere_collision_v2.sdf b/models/j2s7s300_arm_sphere_collision_v2.sdf
@@ -4,7 +4,7 @@
 SDF automatically generated with: gz sdf -p /my_urdf.urdf > /my_sdf.sdf
 
 Later edited by hand to:
-* add collision geometries
+* add collision geometries to end effector link.
 * add velocity and effort limits
 -->
   <model name='j2s7s300_arm'>