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fix(assets): add density and remove contact parameters

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This commit is contained in:
Ilya Uraev 2025-03-21 18:34:56 +03:00
parent 6147bdd911
commit 4b457c2e2e
6 changed files with 80 additions and 75 deletions
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43
rbs_mill_assist/assets/bunker/model.sdf
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@ -21,32 +21,33 @@
</material>
</visual>
<collision name="bunker_collision">
<density>7850</density>
<geometry>
<mesh>
<uri>model://bunker/meshes/Bunker_50mm_height_for_labels_60х40.STL</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<kp>1e6</kp>
<kd>1e3</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce>
<restitution>0.3</restitution>
</bounce>
<friction>
<ode>
<mu>0.61</mu>
<mu2>0.47</mu2>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
</surface>
<!-- <surface> -->
<!-- <contact> -->
<!-- <ode> -->
<!-- <kp>1e6</kp> -->
<!-- <kd>1e3</kd> -->
<!-- <max_vel>0.1</max_vel> -->
<!-- <min_depth>0.001</min_depth> -->
<!-- </ode> -->
<!-- </contact> -->
<!-- <bounce> -->
<!-- <restitution>0.3</restitution> -->
<!-- </bounce> -->
<!-- <friction> -->
<!-- <ode> -->
<!-- <mu>0.61</mu> -->
<!-- <mu2>0.47</mu2> -->
<!-- <slip1>0.0</slip1> -->
<!-- <slip2>0.0</slip2> -->
<!-- </ode> -->
<!-- </friction> -->
<!-- </surface> -->
</collision>
</link>
</model>

43
rbs_mill_assist/assets/bunker_4_slots/model.sdf
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@ -21,32 +21,33 @@
</material>
</visual>
<collision name="bunker_4_slots_collision">
<density>7850</density>
<geometry>
<mesh>
<uri>model://bunker_4_slots/meshes/Bunker_50mm_height_for_labels_60х40_4.STL</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<kp>1e6</kp>
<kd>1e3</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce>
<restitution>0.3</restitution>
</bounce>
<friction>
<ode>
<mu>0.61</mu>
<mu2>0.47</mu2>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
</surface>
<!-- <surface> -->
<!-- <contact> -->
<!-- <ode> -->
<!-- <kp>1e6</kp> -->
<!-- <kd>1e3</kd> -->
<!-- <max_vel>0.1</max_vel> -->
<!-- <min_depth>0.001</min_depth> -->
<!-- </ode> -->
<!-- </contact> -->
<!-- <bounce> -->
<!-- <restitution>0.3</restitution> -->
<!-- </bounce> -->
<!-- <friction> -->
<!-- <ode> -->
<!-- <mu>0.61</mu> -->
<!-- <mu2>0.47</mu2> -->
<!-- <slip1>0.0</slip1> -->
<!-- <slip2>0.0</slip2> -->
<!-- </ode> -->
<!-- </friction> -->
<!-- </surface> -->
</collision>
</link>
</model>

43
rbs_mill_assist/assets/conductor/model.sdf
View file

@ -28,32 +28,33 @@
</material>
</visual>
<collision name="conductor_collision">
<density>1000</density>
<geometry>
<mesh>
<uri>model://conductor/meshes/conductor.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<kp>1e6</kp>
<kd>1e3</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce>
<restitution>0.3</restitution>
</bounce>
<friction>
<ode>
<mu>0.61</mu>
<mu2>0.47</mu2>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
</surface>
<!-- <surface> -->
<!-- <contact> -->
<!-- <ode> -->
<!-- <kp>1e6</kp> -->
<!-- <kd>1e3</kd> -->
<!-- <max_vel>0.1</max_vel> -->
<!-- <min_depth>0.001</min_depth> -->
<!-- </ode> -->
<!-- </contact> -->
<!-- <bounce> -->
<!-- <restitution>0.3</restitution> -->
<!-- </bounce> -->
<!-- <friction> -->
<!-- <ode> -->
<!-- <mu>0.61</mu> -->
<!-- <mu2>0.47</mu2> -->
<!-- <slip1>0.0</slip1> -->
<!-- <slip2>0.0</slip2> -->
<!-- </ode> -->
<!-- </friction> -->
<!-- </surface> -->
</collision>
</link>
</model>

1
rbs_mill_assist/assets/laser/model.sdf
View file

@ -30,6 +30,7 @@
</material>
</visual>
<collision name="laser_collision">
<density>1000</density>
<geometry>
<mesh>
<uri>model://laser/meshes/laser.obj</uri>

25
rbs_mill_assist/assets/shildik/model.sdf
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@ -14,9 +14,9 @@
<ambient>1 1 1 1</ambient>
<specular>0.5 0.5 0.5 1</specular>
<emissive>0 0 0 1</emissive>
<texture>
<diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map>
</texture>
<!-- <texture> -->
<!-- <diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map> -->
<!-- </texture> -->
<pbr>
<metal>
<albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map>
@ -29,20 +29,21 @@
</material>
</visual>
<collision name="shildik_collision">
<density>2700</density>
<geometry>
<box>
<size>0.06 0.04 0.0005</size>
</box>
</geometry>
<surface>
<contact>
<ode />
</contact>
<bounce />
<friction>
<ode />
</friction>
</surface>
<!-- <surface> -->
<!-- <contact> -->
<!-- <ode /> -->
<!-- </contact> -->
<!-- <bounce /> -->
<!-- <friction> -->
<!-- <ode /> -->
<!-- </friction> -->
<!-- </surface> -->
</collision>
</link>
</model>

0
rbs_mill_assist/current.urdf Normal file
View file