Merge pull request #151 from Gregwar/robot_soccer_kit

Omniwheel Robot soccer kit

Author: kevinzakka

robot_soccer_kit/LICENSE

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+Copyright 2019-2099 Rhoban Team <Grégoire Passault>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

robot_soccer_kit/README.md

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+# Robot soccer kit omnidirectional
+
+## Overview 
+
+This package contains a robot description (MJCF) of a [Robot Soccer Kit omnidirectional robot](https://robot-soccer-kit.github.io/). All passive wheels (20 per wheel) are simulated as passive joints.
+
+No accurate system identification was performed, so the model is not expected to be highly accurate for control purposes.
+
+<p float="left">
+    <img src="robot_soccer_kit.png" width="400">
+</p>
+
+## CAD → MJCF conversion
+
+The model was converted using [onshape-to-robot](https://onshape-to-robot.readthedocs.io/) from the [Onshape CAD assembly](https://cad.onshape.com/documents/81e7adfaf4d8d74f2936fbd5/w/97141f458dee8c3b80cbf3d2/e/5e1ff591ff562de3da8ed2af).
+
+The conversion configuration ([config.json](config.json)) was kept in the package for reference. Only passive wheels were kept for collision, using pure cylinders.
+
+## License
+
+This model is released under a [MIT License](LICENSE)

robot_soccer_kit/assets/18650.stl

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+% scale(1000) import("bearing.stl");
+
+// Append pure shapes (cube, cylinder and sphere), e.g:
+// cube([10, 10, 10], center=true);
+cylinder(r=6, h=4);
+// sphere(10);