style: improve model structure and code style

Co-authored-by: Marco Boneberger <[email protected]>
frankaemika · Dec 10, 2021 · b5d4dc6 · b5d4dc6
1 parent 5ce1bf4
commit b5d4dc6
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Showing 10 changed files with 11 additions and 11 deletions.
diff --git a/franka_gazebo/models/pick_tray/model.config b/franka_gazebo/models/pick_tray/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>pick_tray</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>[email protected]</email>

diff --git a/franka_gazebo/models/pick_tray/model.sdf b/franka_gazebo/models/pick_tray/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='pick_tray'>
     <link name='link'>
       <pose>0.0 0.0 0.011674 0 -0 0</pose>

diff --git a/franka_gazebo/models/place_tray/model.config b/franka_gazebo/models/place_tray/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>place_tray</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>[email protected]</email>

diff --git a/franka_gazebo/models/place_tray/model.sdf b/franka_gazebo/models/place_tray/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='place_tray'>
     <link name='link'>
       <pose>0.0 0.0 0.011674 0 -0 0</pose>

diff --git a/franka_gazebo/models/stone/model.config b/franka_gazebo/models/stone/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>stone</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>[email protected]</email>

diff --git a/franka_gazebo/models/stone/model.sdf b/franka_gazebo/models/stone/model.sdf
@@ -1,8 +1,8 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='stone'>
     <link name='link'>
-      <pose>0.0 0.0 0.032 0 -0 0</pose>
+      <pose>0.0 0.0 0.0 0 -0 0</pose>
       <inertial>
         <!--NOTE: Uses limestone density (i.e 2000 kg/m^3) to calculate the mass
         see https://en.wikipedia.org/wiki/Limestone

diff --git a/franka_gazebo/models/table/model.config b/franka_gazebo/models/table/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>table</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>[email protected]</email>

diff --git a/franka_gazebo/models/table/model.sdf b/franka_gazebo/models/table/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='table'>
     <link name='link'>
       <pose>0 0 0.2099115 0 -0 0</pose>

diff --git a/franka_gazebo/package.xml b/franka_gazebo/package.xml
@@ -46,6 +46,6 @@
 
     <!--Export gazebo models and worlds-->
     <gazebo_ros gazebo_model_path="${prefix}/models"/>
-    <gazebo_ros gazebo_resource_path="${prefix}/worlds"/>
+    <gazebo_ros gazebo_resource_path="${prefix}/world"/>
   </export>
 </package>
diff --git a/franka_gazebo/worlds/stone.world → franka_gazebo/world/stone.sdf b/franka_gazebo/worlds/stone.world → franka_gazebo/world/stone.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.6">
   <world name="panda_pick_and_place">
     <!--A global light source-->
     <include>