From c6a5d5c4a3c65d6e884e2aaf3d0d3da6bdfa26f2 Mon Sep 17 00:00:00 2001 From: zsampson25 Date: Mon, 11 Nov 2024 19:43:16 -0700 Subject: [PATCH 1/3] Adding mymodel to the database --- mymodel/model.config | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 mymodel/model.config diff --git a/mymodel/model.config b/mymodel/model.config new file mode 100644 index 00000000..ad9b4b21 --- /dev/null +++ b/mymodel/model.config @@ -0,0 +1,16 @@ + + + Wedge juggler + 1.0 + model.sdf + model-1.4.sdf + + + Zach Sampson + zsampson@byu.edu + + + + A ball-in-wedge juggler. + + \ No newline at end of file From f2f09278144a7ba649455964e1627897da40732e Mon Sep 17 00:00:00 2001 From: zsampson25 Date: Tue, 12 Nov 2024 14:59:56 -0700 Subject: [PATCH 2/3] Made simple model --- my_robot/model.config | 15 ++++++ my_robot/model.sdf | 108 ++++++++++++++++++++++++++++++++++++++++++ mymodel/box.sdf | 35 ++++++++++++++ 3 files changed, 158 insertions(+) create mode 100644 my_robot/model.config create mode 100644 my_robot/model.sdf create mode 100644 mymodel/box.sdf diff --git a/my_robot/model.config b/my_robot/model.config new file mode 100644 index 00000000..f1a158fe --- /dev/null +++ b/my_robot/model.config @@ -0,0 +1,15 @@ + + + My Robot + 1.0 + model.sdf + + + My Name + me@my.email + + + + My awesome robot. + + \ No newline at end of file diff --git a/my_robot/model.sdf b/my_robot/model.sdf new file mode 100644 index 00000000..eb0da798 --- /dev/null +++ b/my_robot/model.sdf @@ -0,0 +1,108 @@ + + + + false + + 0 0 .1 0 0 0 + + + + + .4 .2 .1 + + + + + + + + .4 .2 .1 + + + + + -0.15 0 -0.05 0 0 0 + + + .05 + + + + + + + 0 + 0 + 1.0 + 1.0 + + + + + + + -0.15 0 -0.05 0 0 0 + + + .05 + + + + + + 0.1 -0.13 0.1 0 1.5707 1.5707 + + + + .1 + .05 + + + + + + + .1 + .05 + + + + + + 0.1 0.13 0.1 0 1.5707 1.5707 + + + + .1 + .05 + + + + + + + .1 + .05 + + + + + + 0 0 -0.03 0 0 0 + left_wheel + chassis + + 0 1 0 + + + + + 0 0 0.03 0 0 0 + right_wheel + chassis + + 0 1 0 + + + + \ No newline at end of file diff --git a/mymodel/box.sdf b/mymodel/box.sdf new file mode 100644 index 00000000..0f4d1d3f --- /dev/null +++ b/mymodel/box.sdf @@ -0,0 +1,35 @@ + + + + 0 0 0.5 0 0 0 + true + + + 1.0 + + + 0.083 + 0.0 + 0.0 + 0.083 + 0.0 + 0.083 + + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + \ No newline at end of file From 61ec6585399a54bf98f9b62121381d0435ee3b13 Mon Sep 17 00:00:00 2001 From: zsampson25 Date: Fri, 6 Dec 2024 13:58:41 -0700 Subject: [PATCH 3/3] mobile base code --- mobile_base/model.config | 14 ++ mobile_base/model.sdf | 319 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 333 insertions(+) create mode 100644 mobile_base/model.config create mode 100644 mobile_base/model.sdf diff --git a/mobile_base/model.config b/mobile_base/model.config new file mode 100644 index 00000000..8f0e9792 --- /dev/null +++ b/mobile_base/model.config @@ -0,0 +1,14 @@ + + + mobile_base + 1.0 + model.sdf + + Your Name + your.email@example.com + + + A mobile base with 4 Segway-style wheels connected to 4 caster swivel mechanisms. + This model is designed for simulation in Gazebo. + + diff --git a/mobile_base/model.sdf b/mobile_base/model.sdf new file mode 100644 index 00000000..af5e5514 --- /dev/null +++ b/mobile_base/model.sdf @@ -0,0 +1,319 @@ + + + + false + + + + 0 0 0.1 0 0 0 + + 10.0 + + 1.0 + 1.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + + + 1.0 1.0 0.2 + + + + + + + 1.0 1.0 0.2 + + + + + + + + + + + -0.4 -0.4 0.0 0 0 0 + + + + 0.05 + 0.2 + + + + + + + 0.05 + 0.2 + + + + + + + + + + base_link + caster1 + + 0 0 1 + + + + + -0.4 -0.4 -0.05 0 1.5708 0 + + + + 0.05 + 0.1 + + + + + + + 0.05 + 0.1 + + + + + + + + + + caster1 + segway1_wheel + + 1 0 0 + + + + + + 0.4 -0.4 0.0 0 0 0 + + + + 0.05 + 0.2 + + + + + + + 0.05 + 0.2 + + + + + + + + + + base_link + caster2 + + 0 0 1 + + + + + 0.4 -0.4 -0.05 0 1.5708 0 + + + + 0.05 + 0.1 + + + + + + + 0.05 + 0.1 + + + + + + + + + + caster2 + segway2_wheel + + 1 0 0 + + + + + + -0.4 0.4 0.0 0 0 0 + + + + 0.05 + 0.2 + + + + + + + 0.05 + 0.2 + + + + + + + + + + base_link + caster3 + + 0 0 1 + + + + + -0.4 0.4 -0.05 0 1.5708 0 + + + + 0.05 + 0.1 + + + + + + + 0.05 + 0.1 + + + + + + + + + + caster3 + segway3_wheel + + 1 0 0 + + + + + + 0.4 0.4 0.0 0 0 0 + + + + 0.05 + 0.2 + + + + + + + 0.05 + 0.2 + + + + + + + + + + base_link + caster4 + + 0 0 1 + + + + + 0.4 0.4 -0.05 0 1.5708 0 + + + + 0.05 + 0.1 + + + + + + + 0.05 + 0.1 + + + + + + + + + + caster4 + segway4_wheel + + 1 0 0 + + + + +