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[ycb] Move related Drake files into here (#42)
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These were copied from Drake as of 1d54460b.
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@jwnimmer-tri
jwnimmer-tri authored Mar 25, 2024
1 parent 199f3e5 commit c18b846
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Showing 7 changed files with 733 additions and 9 deletions.
121 changes: 121 additions & 0 deletions ycb/003_cracker_box.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="003_cracker_box">
<!--
Axes:
+X - Left, when facing front (smaller dimension)
+Y - Towards Bottom (larger dimension)
+Z - Towards Front (with label).
Origin:
(0, 0, 0) at the center of the box.
-->
<!--
The inertial properties were calculated from the mass and dimensions given
with the YCB dataset. The cracker box is treated as a constant density box,
which matches the collision shape.
-->
<link name="base_link_cracker">
<inertial>
<mass>0.411</mass>
<inertia>
<ixx>0.001736</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001098</iyy>
<iyz>0</iyz>
<izz>0.002481</izz>
</inertia>
</inertial>
<visual name="base_link_cracker">
<pose>-0.014 0.103 0.013 1.57 -1.57 0</pose>
<geometry>
<mesh>
<uri>package://drake_models/ycb/meshes/003_cracker_box_textured.obj</uri>
</mesh>
</geometry>
</visual>
<!--
This places contact spheres on the corners of the visual box and a
*slightly* smaller inset contact box (centered on the visual origin). This
accounts for issues in the contact computation providing stable table
contact *and* supports grasping.
When the box is in stable contact with the ground plane, the corner
spheres will provide fixed contact points (simulating distributed contact
points around the face). However, for arbitrary grip configuration, the
slightly inset box will provide contact with a *slight* offset (in this
case a deviation of 0.0005 m from the visual surface).
-->
<collision name="box_collision">
<geometry>
<box>
<size>0.158000 0.207400 0.065800</size>
</box>
</geometry>
</collision>
<collision name="point_collision1">
<pose>0.079500 0.104200 0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision2">
<pose>0.079500 -0.104200 0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision3">
<pose>-0.079500 0.104200 0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision4">
<pose>-0.079500 -0.104200 0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision5">
<pose>0.079500 0.104200 -0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision6">
<pose>0.079500 -0.104200 -0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision7">
<pose>-0.079500 0.104200 -0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision8">
<pose>-0.079500 -0.104200 -0.033400 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
</link>
</model>
</sdf>
121 changes: 121 additions & 0 deletions ycb/004_sugar_box.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="004_sugar_box">
<!--
Axes:
+X - Left, when facing front (smaller dimension)
+Y - Towards Bottom (larger dimension)
+Z - Towards Front (with label)
Origin:
(0, 0, 0) at the center of the box.
-->
<!--
The inertial properties were calculated from the mass and dimensions given
with the YCB dataset. The sugar box is treated as a constant density box,
which matches the collision shape.
-->
<link name="base_link_sugar">
<inertial>
<mass>0.514000</mass>
<inertia>
<ixx>0.001418</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000455</iyy>
<iyz>0</iyz>
<izz>0.001699</izz>
</inertia>
</inertial>
<visual name="base_link_sugar">
<pose>-0.018 0.088 0.0039 -0.77 -1.52 2.36</pose>
<geometry>
<mesh>
<uri>package://drake_models/ycb/meshes/004_sugar_box_textured.obj</uri>
</mesh>
</geometry>
</visual>
<!--
This places contact spheres on the corners of the visual box and a
*slightly* smaller inset contact box (centered on the visual origin). This
accounts for issues in the contact computation providing stable table
contact *and* supports grasping.
When the box is in stable contact with the ground plane, the corner
spheres will provide fixed contact points (simulating distributed contact
points around the face). However, for arbitrary grip configuration, the
slightly inset box will provide contact with a *slight* offset (in this
case a deviation of 0.0005 m from the visual surface).
-->
<collision name="box_collision">
<geometry>
<box>
<size>0.086700 0.170300 0.039100</size>
</box>
</geometry>
</collision>
<collision name="point_collision1">
<pose>0.043850 0.085650 0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision2">
<pose>0.043850 -0.085650 0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision3">
<pose>-0.043850 0.085650 0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision4">
<pose>-0.043850 -0.085650 0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision5">
<pose>0.043850 0.085650 -0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision6">
<pose>0.043850 -0.085650 -0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision7">
<pose>-0.043850 0.085650 -0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision8">
<pose>-0.043850 -0.085650 -0.020050 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
</link>
</model>
</sdf>
123 changes: 123 additions & 0 deletions ycb/005_tomato_soup_can.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="005_tomato_soup_can">
<!--
Axes:
+X - Left, when facing front (radial)
+Y - Towards Bottom (length of cylinder)
+Z - Towards Front (radial, with label)
Origin:
(0, 0, 0) at the center of the can.
-->
<!--
The inertial properties were calculated from the mass and dimensions given
with the YCB dataset. The tomato soup can is treated as a constant density
cylinder, which matches the collision shape.
-->
<link name="base_link_soup">
<inertial>
<mass>0.349000</mass>
<inertia>
<ixx>0.000402</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000200</iyy>
<iyz>0</iyz>
<izz>0.000402</izz>
</inertia>
</inertial>
<visual name="base_link_soup">
<pose>-0.0018 0.051 -0.084 1.57 0.13 0.0</pose>
<geometry>
<mesh>
<uri>package://drake_models/ycb/meshes/005_tomato_soup_can_textured.obj</uri>
</mesh>
</geometry>
</visual>
<!--
This places contact spheres on the corners of the visual volume and a
*slightly* smaller inset contact volume (centered on the visual origin).
This accounts for issues in the contact computation providing stable table
contact *and* supports grasping.
When the volume is in stable contact with the ground plane, the edge
spheres will provide fixed contact points (simulating distributed contact
points around the face). However, for arbitrary grip configuration, the
slightly inset volume will provide contact with a *slight* offset (in
this case a deviation of 0.001 m from the visual surface).
-->
<collision name="box_collision">
<pose>0 0 0 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.031850</radius>
<length>0.099900</length>
</cylinder>
</geometry>
</collision>
<collision name="point_collision1">
<pose>0.016425 0.050450 0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision2">
<pose>0.016425 -0.050450 0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision3">
<pose>-0.016425 0.050450 0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision4">
<pose>-0.016425 -0.050450 0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision5">
<pose>0.016425 0.050450 -0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision6">
<pose>0.016425 -0.050450 -0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision7">
<pose>-0.016425 0.050450 -0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
<collision name="point_collision8">
<pose>-0.016425 -0.050450 -0.016425 0 0 0 </pose>
<geometry>
<sphere>
<radius>1e-7</radius>
</sphere>
</geometry>
</collision>
</link>
</model>
</sdf>
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