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Place xarm in custom world with drawing surface

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This commit is contained in:
Nicolas Hiillos
2022-10-26 09:46:19 +03:00
parent 30813fc88e
commit d5e7b35236
5 changed files with 224 additions and 8 deletions
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49
src/draw_svg/worlds/follow_target.sdf
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@@ -51,22 +51,48 @@
<!-- Models -->
<!-- -->
<!-- Ground -->
<model name="ground_plane">
<pose>0 0 0 0 0 0</pose>
<!-- <model name="ground_plane">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="ground_plane_link">
<collision name="ground_plane_collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="ground_plane_visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>4 4</size>
</plane>
</geometry>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model> -->
<model name="drawing_surface">
<pose>-0.14 -0.3 1.0 0 0 0</pose>
<static>true</static>
<link name="ground_plane_link">
<collision name="ground_plane_collision">
<link name="drawing_surface_link">
<collision name="drawing_surface_collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.28 0.21</size>
</plane>
</geometry>
</collision>
<visual name="ground_plane_visual">
<visual name="drawing_surface_visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>4 4</size>
<size>0.28 0.21</size>
</plane>
</geometry>
<material>
@@ -76,6 +102,17 @@
</visual>
</link>
</model>
<!-- <include>
<uri>model://ground_plane</uri>
</include> -->
<!-- <include>
<uri>model://sun</uri>
</include> -->
<include>
<uri>model://table</uri>
<name>table</name>
<pose>0.0 -0.84 0 0 0 0</pose>
</include>
<!-- Static target -->
<!-- <model name="target">