56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
444 lines
15 KiB
XML
444 lines
15 KiB
XML
<?xml version="1.0" ?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<sdf version="1.6">
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<world name="shapes">
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<physics type="ode">
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<!-- <render_engine>ogre</render_engine> -->
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<render_engine>ogre2</render_engine>
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<!-- <render_engine>optix</render_engine> -->
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</plugin>
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<plugin
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filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<gui fullscreen="0">
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<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">
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<gz-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>0.4 0.4 0.4</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>-6 0 6 0 0.5 0</camera_pose>
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</plugin>
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<!-- Plugins that add functionality to the scene -->
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<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
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<gz-gui>
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<property key="state" type="string">floating</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="GzSceneManager" name="Scene Manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="InteractiveViewControl" name="Interactive view control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="CameraTracking" name="Camera Tracking">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="MarkerManager" name="Marker manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="SelectEntities" name="Select Entities">
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<gz-gui>
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<anchors target="Select entities">
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<line own="right" target="right"/>
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<line own="top" target="top"/>
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</anchors>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="Spawn" name="Spawn Entities">
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<gz-gui>
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<anchors target="Select entities">
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<line own="right" target="right"/>
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<line own="top" target="top"/>
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</anchors>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<!-- World control -->
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<plugin filename="WorldControl" name="World control">
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<gz-gui>
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<title>World control</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">72</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="left" target="left"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<play_pause>true</play_pause>
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<step>true</step>
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<start_paused>true</start_paused>
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<use_event>true</use_event>
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</plugin>
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<!-- World statistics -->
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<plugin filename="WorldStats" name="World stats">
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<gz-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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<!-- Insert simple shapes -->
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<plugin filename="Shapes" name="Shapes">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">0</property>
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<property key="y" type="double">0</property>
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<property key="width" type="double">250</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#666666</property>
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</gz-gui>
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</plugin>
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<!-- Insert lights -->
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<plugin filename="Lights" name="Lights">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">250</property>
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<property key="y" type="double">0</property>
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<property key="width" type="double">150</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#666666</property>
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</gz-gui>
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</plugin>
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<!-- Translate / rotate -->
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<plugin filename="TransformControl" name="Transform control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">0</property>
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<property key="y" type="double">50</property>
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<property key="width" type="double">250</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#777777</property>
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</gz-gui>
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</plugin>
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<!-- Inspector -->
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<plugin filename="ComponentInspector" name="Component inspector">
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<gz-gui>
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<property type="string" key="state">docked_collapsed</property>
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</gz-gui>
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</plugin>
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<!-- Entity tree -->
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<plugin filename="EntityTree" name="Entity tree">
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<gz-gui>
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<property type="string" key="state">docked_collapsed</property>
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</gz-gui>
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</plugin>
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<!-- View angle -->
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<plugin filename="ViewAngle" name="View angle">
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<gz-gui>
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<property type="string" key="state">docked_collapsed</property>
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</gz-gui>
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</plugin>
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<!-- Image Display Plugins for visualization -->
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<plugin filename="ImageDisplay" name="Image Display">
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<gz-gui>
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</gz-gui>
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<topic>camera</topic>
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</plugin>
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<plugin name='Grid config' filename='GridConfig'>
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<gz-gui>
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<property type="string" key="state">docked_collapsed</property>
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</gz-gui>
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<insert>
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<!-- total size = length * cell count-->
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<horizontal_cell_count>50</horizontal_cell_count>
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<!-- 0 actually means one plane-->
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<vertical_cell_count>0</vertical_cell_count>
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<!--5m cells-->
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<cell_length>2.0</cell_length>
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<pose>0 0 0 0 0 0</pose>
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<color>1 1 1 0.7</color>
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</insert>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<scene>
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<grid>false</grid>
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<ambient>0.4 0.4 0.4 1</ambient>
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<!-- <background>0.7 0.7 0.7 1</background> -->
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<background>0.8 0.8 0.8</background>
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<shadows>true</shadows>
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</scene>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<!-- Cars, all of them have label 40 -->
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<include>
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<name>Car1</name>
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<pose>-2 -2 0 0 0 0</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Hatchback blue
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>40</label>
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</plugin>
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</include>
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<include>
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<name>Car2</name>
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<pose>-3 -5 0 0 0 0</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pickup
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>40</label>
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</plugin>
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</include>
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<include>
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<name>Car3</name>
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<pose>-4 3 0 0 0 -1.57</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/SUV
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>40</label>
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</plugin>
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</include>
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<!-- Tree, all of them have label 30 -->
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<include>
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<name>tree1</name>
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<pose>-2 5 0 0 0 0</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>30</label>
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</plugin>
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</include>
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<include>
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<name>tree2</name>
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<pose>-7 2 0 0 0 0</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>30</label>
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</plugin>
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</include>
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<include>
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<name>tree3</name>
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<pose>-7 -4 0 0 0 0</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>30</label>
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</plugin>
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</include>
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<!-- Home, we didn't annotate (label) it, so it will be considered as background -->
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<include>
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<name>home</name>
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<pose>-15 0 0 0 0 1.57</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Collapsed House
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</uri>
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</include>
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<!-- Cones, all with label 20-->
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<include>
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<name>cone1</name>
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<pose>0 1 0 0 0 1.570796</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>20</label>
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</plugin>
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</include>
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<include>
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<name>cone2</name>
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<pose>0 4 0 0 0 1.570796</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>20</label>
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</plugin>
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</include>
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<include>
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<name>cone3</name>
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<pose>2 -2 0 0 0.0 1.57</pose>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
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</uri>
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<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
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<label>20</label>
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</plugin>
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</include>
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</world>
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</sdf>
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