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added pick object to simulation #55

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added pick object to simulation #55

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06c9cd8
added object to simulation
Arav-Mathur Feb 11, 2026
7460deb
removed trailing spaces
Arav-Mathur Feb 11, 2026
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26 changes: 26 additions & 0 deletions src/gazebo/launch/mars_env.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -73,4 +73,30 @@
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<!-- Pick Link -->
<link name="pick">
<visual>
<geometry>
<mesh filename="./pick.stl" scale="0.004 0.004 0.004"/>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.75 0.75 0.75 1</diffuse>
<specular>0.9 0.9 0.9 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<collision>
<geometry>
<mesh filename="./pick.stl" scale="0.004 0.004 0.004"/>
</geometry>
</collision>
</link>

<joint name="pick_joint" type="fixed">
<parent link="desert"/>
<child link="pick"/>
<origin xyz="0 1.2 -2" rpy="0 0 0"/>
</joint>

</robot>
Binary file added src/gazebo/launch/pick.stl
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29 changes: 29 additions & 0 deletions src/gazebo/launch/robot_env.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -378,6 +378,35 @@
</link>
</model>

<model name="pick">
<static>true</static>
<link name="pick_link">
<visual name="visual">
<geometry>
<mesh>
<uri>pick.stl</uri>
<scale>0.004 0.004 0.004</scale>
</mesh>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.75 0.75 0.75 1</diffuse>
<specular>0.9 0.9 0.9 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<pose>0 2 -1.2 0 0 3.14159</pose>
</visual>
<collision name="collision">
<geometry>
<mesh>
<uri>pick.stl</uri>
<scale>0.004 0.004 0.004</scale>
</mesh>
</geometry>
<pose>0 2 -1.2 0 0 3.14159</pose>
</collision>
</link>
</model>

<model name='robot' canonical_link='chassis'>
<pose relative_to='world'>-6 0 1 0 0 0</pose> <!--the pose is relative to the world by default-->
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