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BasicRoom world #64

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dd02039
BasicRoom world added to repo
jcastro-Robotnik Mar 25, 2026
5e0e2d0
Update ros2_control.yaml
jcastro-Robotnik Mar 26, 2026
213ca8b
allow partial joints goal
jcastro-Robotnik Mar 26, 2026
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6 changes: 4 additions & 2 deletions robotnik_gazebo_ignition/config/profile/rbrobout/ros2_control.yaml
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Expand Up @@ -96,7 +96,7 @@
ros__parameters:
publish_rate: 50
joints:
- $(var frame_prefix)lift_ewellix_lift_top_joint
- $(var frame_prefix)lift_joint
- $(var frame_prefix)arm_shoulder_pan_joint
- $(var frame_prefix)arm_shoulder_lift_joint
- $(var frame_prefix)arm_elbow_joint
Expand All @@ -114,5 +114,7 @@
state_publish_rate: 50.0
action_monitor_rate: 20.0

allow_partial_joints_goal: false
# MoveIt plans only the 6 UR arm joints for the "arm" group, while this
# controller also exposes the lift joint.
allow_partial_joints_goal: true
open_loop_control: true
2 changes: 2 additions & 0 deletions robotnik_gazebo_ignition/launch/spawn_robot.launch.py
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Expand Up @@ -181,6 +181,8 @@ def add_depth_camera(camera_name):
add_camera("rear")
add_camera("top_ptz")
#add_depth_camera("front")
add_camera("wrist")
add_depth_camera("wrist")
add_laser("front")
add_laser("rear")
add_pointcloud("top")
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Binary file added robotnik_gazebo_ignition/models/BasicRoom/meshes/BasicRoom.glb
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10 changes: 10 additions & 0 deletions robotnik_gazebo_ignition/models/BasicRoom/model.config
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<?xml version="1.0"?>
<model>
<name>BasicRoom</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Jorge</name>
</author>
<description>Habitación exportada desde Blender</description>
</model>
78 changes: 78 additions & 0 deletions robotnik_gazebo_ignition/models/BasicRoom/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.9">
<model name="BasicRoom">
<static>true</static>

<link name="link">

<!-- Visual -->
<visual name="visual">
<pose>0 0 0 1.5708 0 0</pose>
<geometry>
<mesh>
<uri>meshes/BasicRoom.glb</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>

<!-- =========================
COLLISIONS (hitboxes)
========================= -->

<!-- Suelo -->
<!-- Centro del objeto está aprox en mitad de altura -->
<!-- Z total = 10.2 -> mitad = 5.1 -->
<!-- Suelo grosor ~0.25 -->
<collision name="floor_collision">
<pose>0 0 -0.1229 0 0 0</pose>
<geometry>
<box>
<size>60.0 40.0 0.25</size>
</box>
</geometry>
</collision>

<!-- Pared norte (Y+) -->
<collision name="wall_north_collision">
<pose>0 20.5 0.0 0 0 0</pose>
<geometry>
<box>
<size>63.0 1.0 10.2</size>
</box>
</geometry>
</collision>

<!-- Pared sur (Y-) -->
<collision name="wall_south_collision">
<pose>0 -20.5 0.0 0 0 0</pose>
<geometry>
<box>
<size>63.0 1.0 10.2</size>
</box>
</geometry>
</collision>

<!-- Pared este (X+) -->
<collision name="wall_east_collision">
<pose>30.75 0 0.0 0 0 0</pose>
<geometry>
<box>
<size>1.5 42.0 10.2</size>
</box>
</geometry>
</collision>

<!-- Pared oeste (X-) -->
<collision name="wall_west_collision">
<pose>-30.75 0 0.0 0 0 0</pose>
<geometry>
<box>
<size>1.5 42.0 10.2</size>
</box>
</geometry>
</collision>

</link>
</model>
</sdf>
Binary file added robotnik_gazebo_ignition/models/Cardboard box/materials/textures/cardboard_box.png
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175 changes: 175 additions & 0 deletions robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.dae
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>ColeB</author>
<authoring_tool>OpenCOLLADA for 3ds Max; Version: 1.6; Revision: 24</authoring_tool>
</contributor>
<created>2016-07-25T18:14:43</created>
<modified>2016-07-25T18:14:43</modified>
<unit name="millimeter" meter="0.001"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="CardboardBoxes">
<profile_COMMON>
<newparam sid="CardboardBoxes_png-surface">
<surface type="2D">
<init_from>CardboardBoxes_png</init_from>
</surface>
</newparam>
<newparam sid="CardboardBoxes_png-sampler">
<sampler2D>
<source>CardboardBoxes_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<blinn>
<emission>
<color>0 0 0 1</color>
</emission>
<ambient>
<color>0.588 0.588 0.588 1</color>
</ambient>
<diffuse>
<texture texture="CardboardBoxes_png-sampler" texcoord="CHANNEL1"/>
</diffuse>
<specular>
<color>0 0 0 1</color>
</specular>
<shininess>
<float>10</float>
</shininess>
<reflective>
<color>0 0 0 1</color>
</reflective>
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<transparency>
<float>1</float>
</transparency>
</blinn>
</technique>
</profile_COMMON>
<extra>
<technique profile="OpenCOLLADA3dsMax">
<extended_shader>
<opacity_type sid="opacity_type" type="int">0</opacity_type>
<falloff_type sid="falloff_type" type="int">0</falloff_type>
<falloff sid="falloff" type="float">0</falloff>
<index_of_refraction sid="index_of_refraction" type="float">1.5</index_of_refraction>
<wire_size sid="wire_size" type="float">1</wire_size>
<wire_units sid="wire_units" type="int">0</wire_units>
<apply_reflection_dimming sid="apply_reflection_dimming" type="bool">0</apply_reflection_dimming>
<dim_level sid="dim_level" type="float">0</dim_level>
<reflection_level sid="reflection_level" type="float">3</reflection_level>
</extended_shader>
<shader>
<ambient_diffuse_texture_lock sid="ambient_diffuse_texture_lock" type="bool">1</ambient_diffuse_texture_lock>
<ambient_diffuse_lock sid="ambient_diffuse_lock" type="bool">1</ambient_diffuse_lock>
<diffuse_specular_lock sid="diffuse_specular_lock" type="bool">0</diffuse_specular_lock>
<use_self_illum_color sid="use_self_illum_color" type="bool">0</use_self_illum_color>
<self_illumination sid="self_illumination" type="float">0</self_illumination>
<specular_level sid="specular_level" type="float">0</specular_level>
<soften sid="soften" type="float">0.1</soften>
</shader>
</technique>
</extra>
</effect>
</library_effects>
<library_materials>
<material id="CardboardBoxes-material" name="CardboardBoxes">
<instance_effect url="#CardboardBoxes"/>
</material>
</library_materials>
<library_geometries>
<geometry id="geom-Conveyor_Box" name="Conveyor_Box">
<mesh>
<source id="geom-Conveyor_Box-positions">
<float_array id="geom-Conveyor_Box-positions-array" count="54">-198.5183 -198.5183 0 -198.5183 0 0 -198.5183 -198.5183 397.0367 198.5183 -198.5183 0 0 0 0 0 -198.5183 0 198.5183 -198.5183 397.0367 0 -198.5183 397.0367 0 0 397.0367 -198.5183 198.5183 0 0 198.5183 0 -198.5183 198.5183 397.0367 0 198.5183 397.0367 -198.5183 0 397.0367 198.5183 198.5183 0 198.5183 0 0 198.5183 198.5183 397.0367 198.5183 0 397.0367</float_array>
<technique_common>
<accessor source="#geom-Conveyor_Box-positions-array" count="18" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="geom-Conveyor_Box-normals">
<float_array id="geom-Conveyor_Box-normals-array" count="126">0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 0 -1 0 0 -1 0 0 1 0 0 1 0 -1 0 0 -1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 -1 0 0 -1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 -1 0 0 0 0 -1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 0</float_array>
<technique_common>
<accessor source="#geom-Conveyor_Box-normals-array" count="42" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="geom-Conveyor_Box-map1">
<float_array id="geom-Conveyor_Box-map1-array" count="144">0.002000085 0.3197314 0 0.002000085 0.6009098 0 0.8710723 0.2831782 0 0.5898938 0.2831782 0 0.5643569 0.3197314 0 0.8455351 0.3197313 0 0.8455353 0.6009097 0 0.5643569 0.6009098 0 0.002 0.03855312 0 0.5643567 0.03855291 0 0.5898938 0.002000002 0 0.8710723 0.002000002 0 0.5898938 0.002000002 0 0.8710723 0.002000002 0 0.8710723 0.2831782 0 0.5898938 0.2831782 0 0.5643569 0.3197314 0 0.8455351 0.3197313 0 0.8455353 0.6009097 0 0.5643569 0.6009098 0 0.002000085 0.3197314 0 0.002 0.03855312 0 0.5643567 0.03855291 0 0.002000085 0.6009098 0 0.5898938 0.002000002 0 0.8710723 0.002000002 0 0.8710723 0.2831782 0 0.5898938 0.2831782 0 0.5643569 0.3197314 0 0.8455351 0.3197313 0 0.8455353 0.6009097 0 0.5643569 0.6009098 0 0.002000085 0.3197314 0 0.002 0.03855312 0 0.5643567 0.03855291 0 0.002000085 0.6009098 0 0.5898938 0.002000002 0 0.5898938 0.2831782 0 0.8710723 0.2831782 0 0.8710723 0.002000002 0 0.5643569 0.3197314 0 0.5643569 0.6009098 0 0.8455353 0.6009097 0 0.8455351 0.3197313 0 0.002000085 0.3197314 0 0.5643567 0.03855291 0 0.002 0.03855312 0 0.002000085 0.6009098 0</float_array>
<technique_common>
<accessor source="#geom-Conveyor_Box-map1-array" count="48" stride="3">
<param name="S" type="float"/>
<param name="T" type="float"/>
<param name="P" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="geom-Conveyor_Box-vertices">
<input semantic="POSITION" source="#geom-Conveyor_Box-positions"/>
</vertices>
<polylist material="CardboardBoxes" count="16">
<input semantic="VERTEX" source="#geom-Conveyor_Box-vertices" offset="0"/>
<input semantic="NORMAL" source="#geom-Conveyor_Box-normals" offset="1"/>
<input semantic="TEXCOORD" source="#geom-Conveyor_Box-map1" offset="2" set="0"/>
<vcount>4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 </vcount>
<p>0 0 10 1 1 11 4 2 2 5 3 3 2 4 4 7 5 5 8 6 6 13 7 7 0 8 0 5 9 8 7 10 9 2 11 4 1 12 1 0 13 0 2 14 4 13 15 7 3 16 12 5 3 15 4 2 14 15 17 13 6 18 16 17 19 19 8 6 18 7 5 17 3 20 20 6 21 16 7 10 22 5 9 21 15 22 23 17 23 19 6 24 16 3 25 20 9 26 24 10 27 27 4 2 26 1 1 25 11 28 28 13 7 31 8 6 30 12 29 29 9 30 32 11 31 28 12 32 34 10 33 33 1 12 35 13 15 31 11 34 28 9 35 32 14 36 36 15 17 39 4 2 38 10 27 37 16 37 40 12 29 43 8 6 42 17 19 41 14 38 44 10 33 46 12 32 45 16 39 40 15 22 47 14 40 44 16 41 40 17 23 41</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_lights>
<light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
<technique_common>
<ambient>
<color>0 0 0</color>
</ambient>
</technique_common>
</light>
</library_lights>
<library_images>
<image id="CardboardBoxes_png">
<init_from>cardboard_box.png</init_from>
</image>
</library_images>
<library_visual_scenes>
<visual_scene id="MaxScene">
<node name="EnvironmentAmbientLight">
<instance_light url="#EnvironmentAmbientLight"/>
</node>
<node id="node-Conveyor_Box" name="Conveyor_Box">
<instance_geometry url="#geom-Conveyor_Box">
<bind_material>
<technique_common>
<instance_material symbol="CardboardBoxes" target="#CardboardBoxes-material">
<bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
<extra>
<technique profile="OpenCOLLADA">
<cast_shadows sid="cast_shadows" type="bool">1</cast_shadows>
<receive_shadows sid="receive_shadows" type="bool">1</receive_shadows>
<primary_visibility sid="primary_visibility" type="int">1</primary_visibility>
<secondary_visibility sid="secondary_visibility" type="int">1</secondary_visibility>
</technique>
</extra>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#MaxScene"/>
</scene>
</COLLADA>
Binary file added robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.png
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20 changes: 20 additions & 0 deletions robotnik_gazebo_ignition/models/Cardboard box/model.config
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<?xml version="1.0"?>

<model>
<name>Cardboard box</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>

<author>
<name>Cole Biesemeyer</name>
</author>

<description>
A closed cardboard box.
</description>
</model>
51 changes: 51 additions & 0 deletions robotnik_gazebo_ignition/models/Cardboard box/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="cardboard_box">
<pose>0 0 0.15 0 0 0</pose>
<link name="link">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.041666667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.056666667</iyy>
<iyz>0</iyz>
<izz>0.068333333</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.5 0.4 0.3</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>10000000.0</kp>
<kd>1.0</kd>
<min_depth>0.001</min_depth>
<max_vel>0.1</max_vel>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>meshes/cardboard_box.dae</uri>
<scale>1.25931896 1.007455168 0.755591376</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
Binary file added robotnik_gazebo_ignition/models/Cardboard box/thumbnails/1.png
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Binary file added robotnik_gazebo_ignition/models/Cardboard box/thumbnails/2.png
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Binary file added robotnik_gazebo_ignition/models/Cardboard box/thumbnails/3.png
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Binary file added robotnik_gazebo_ignition/models/Cardboard box/thumbnails/4.png
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Binary file added robotnik_gazebo_ignition/models/flat_box/materials/textures/texture.png
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12 changes: 12 additions & 0 deletions robotnik_gazebo_ignition/models/flat_box/meshes/model.mtl
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# Copyright 2020 Google LLC.
#
# This work is licensed under the Creative Commons Attribution 4.0
# International License. To view a copy of this license, visit
# http://creativecommons.org/licenses/by/4.0/ or send a letter
# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
newmtl material_0
# shader_type beckmann
map_Kd texture.png

# Kd: Diffuse reflectivity.
Kd 1.000000 1.000000 1.000000
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