Merge pull request #42 from BCLab-UNM/watering_arm

Watering arm
BCLab-UNM · Mar 19, 2021 · 2498d59 · 2498d59
2 parents 2b1c638 + ed3af47
commit 2498d59
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Showing 4 changed files with 162 additions and 183 deletions.
diff --git a/simulation/models/achilles/model.sdf b/simulation/models/achilles/model.sdf
@@ -185,6 +185,21 @@
 				</material>
 			</visual>
 
+			<visual name='watering_arm'>
+				<pose>0.22 -0.16 -0.14 -1.57079 3.14159 0</pose>
+				<geometry>
+					<mesh>
+						<uri>model://swarmie/meshes/WateringArm.stl</uri>
+						<scale>0.015 0.015 0.015</scale>
+					</mesh>
+				</geometry>
+				<material>
+					<script>
+						<name>Gazebo/Grey</name>
+					</script>
+				</material>
+			</visual>
+
 			<collision name='cow_catcher_front_left_collision'>
 				<pose>0.1675 0.06 -0.05 0 -0.4 0.3</pose>
 				<geometry>
@@ -203,15 +218,6 @@
 				</geometry>
 			</collision>
 
-			<collision name='cow_catcher_front_right_collision'>
-				<pose>0.1675 -0.06 -0.05 0 -0.4 -0.3</pose>
-				<geometry>
-					<box>
-					  <size>0.01 0.08 0.06</size>
-					</box>
-				</geometry>
-			</collision>
-
 			<collision name='wheel_guard_front_right_collision'>
 				<pose>0.148 -0.13 -0.05 0 0 0</pose>
 				<geometry>
@@ -221,21 +227,6 @@
 				</geometry>
 			</collision>
 
-			<visual name='cow_catcher_front_visual'>
-				<pose>0.1675 0 -0.08 1.57079 0 0</pose>
-				<geometry>
-					<mesh>
-						<uri>model://swarmie/meshes/CowCatcherFront.stl</uri>
-						<scale>0.001 0.001 0.001</scale>
-					</mesh>
-				</geometry>
-				<material>
-					<script>
-						<name>Gazebo/FlatBlack</name>
-					</script>
-				</material>
-			</visual>
-
 			<collision name='cow_catcher_back_lower_collision'>
 				<pose>-0.1305 0.0 -0.0665 1.57079 1.05 0.0</pose>
 				<geometry>
@@ -359,19 +350,6 @@
 					</friction>
 				</surface>
 			</collision>
-			<visual name="visual">
-				<pose>0 0 0 0 0 0</pose>
-				<geometry>
-					<mesh>
-						<uri>model://swarmie/meshes/GripperFingerLeft.stl</uri>
-					</mesh>
-				</geometry>
-				<material>
-					<script>
-						<name>Gazebo/Grey</name>
-					</script>
-				</material>
-			</visual>
 			<sensor name='finger' type='contact'>
 			  <contact>
 			    <collision>collision</collision>
@@ -441,10 +419,11 @@
 				</surface>
 			</collision>
 			<visual name="visual">
-				<pose>0 0 0 0 0 0</pose>
+				<pose>-00.05 0 0 1.5708 0 1.5708</pose>
 				<geometry>
 					<mesh>
-						<uri>model://swarmie/meshes/GripperFingerRight.stl</uri>
+						<uri>model://swarmie/meshes/WateringArm.stl</uri>
+						<scale>0.0011 0.0011 0.0011</scale>
 					</mesh>
 				</geometry>
 				<material>

diff --git a/simulation/models/square_pot/model.sdf b/simulation/models/square_pot/model.sdf
@@ -23,7 +23,7 @@
         <geometry>
             <mesh>
               <uri>model://square_pot/pot.stl</uri>
-              <scale>0.033 0.033 0.033</scale>
+              <scale>0.033 0.033 0.02</scale>
             </mesh>
         </geometry>
         <material>

diff --git a/simulation/models/swarmie/meshes/WateringArm.stl b/simulation/models/swarmie/meshes/WateringArm.stl