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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> </material>
</visual> </visual>
<collision name="bunker_collision"> <collision name="bunker_collision">
<density>7850</density>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://bunker/meshes/Bunker_50mm_height_for_labels_60х40.STL</uri> <uri>model://bunker/meshes/Bunker_50mm_height_for_labels_60х40.STL</uri>
</mesh> </mesh>
</geometry> </geometry>
<surface> <!-- <surface> -->
<contact> <!-- <contact> -->
<ode> <!-- <ode> -->
<kp>1e6</kp> <!-- <kp>1e6</kp> -->
<kd>1e3</kd> <!-- <kd>1e3</kd> -->
<max_vel>0.1</max_vel> <!-- <max_vel>0.1</max_vel> -->
<min_depth>0.001</min_depth> <!-- <min_depth>0.001</min_depth> -->
</ode> <!-- </ode> -->
</contact> <!-- </contact> -->
<bounce> <!-- <bounce> -->
<restitution>0.3</restitution> <!-- <restitution>0.3</restitution> -->
</bounce> <!-- </bounce> -->
<friction> <!-- <friction> -->
<ode> <!-- <ode> -->
<mu>0.61</mu> <!-- <mu>0.61</mu> -->
<mu2>0.47</mu2> <!-- <mu2>0.47</mu2> -->
<slip1>0.0</slip1> <!-- <slip1>0.0</slip1> -->
<slip2>0.0</slip2> <!-- <slip2>0.0</slip2> -->
</ode> <!-- </ode> -->
</friction> <!-- </friction> -->
</surface> <!-- </surface> -->
</collision> </collision>
</link> </link>
</model> </model>

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

43
rbs_mill_assist/assets/conductor/model.sdf
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@ -28,32 +28,33 @@
</material> </material>
</visual> </visual>
<collision name="conductor_collision"> <collision name="conductor_collision">
<density>1000</density>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://conductor/meshes/conductor.stl</uri> <uri>model://conductor/meshes/conductor.stl</uri>
</mesh> </mesh>
</geometry> </geometry>
<surface> <!-- <surface> -->
<contact> <!-- <contact> -->
<ode> <!-- <ode> -->
<kp>1e6</kp> <!-- <kp>1e6</kp> -->
<kd>1e3</kd> <!-- <kd>1e3</kd> -->
<max_vel>0.1</max_vel> <!-- <max_vel>0.1</max_vel> -->
<min_depth>0.001</min_depth> <!-- <min_depth>0.001</min_depth> -->
</ode> <!-- </ode> -->
</contact> <!-- </contact> -->
<bounce> <!-- <bounce> -->
<restitution>0.3</restitution> <!-- <restitution>0.3</restitution> -->
</bounce> <!-- </bounce> -->
<friction> <!-- <friction> -->
<ode> <!-- <ode> -->
<mu>0.61</mu> <!-- <mu>0.61</mu> -->
<mu2>0.47</mu2> <!-- <mu2>0.47</mu2> -->
<slip1>0.0</slip1> <!-- <slip1>0.0</slip1> -->
<slip2>0.0</slip2> <!-- <slip2>0.0</slip2> -->
</ode> <!-- </ode> -->
</friction> <!-- </friction> -->
</surface> <!-- </surface> -->
</collision> </collision>
</link> </link>
</model> </model>

1
rbs_mill_assist/assets/laser/model.sdf
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@ -30,6 +30,7 @@
</material> </material>
</visual> </visual>
<collision name="laser_collision"> <collision name="laser_collision">
<density>1000</density>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://laser/meshes/laser.obj</uri> <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> <ambient>1 1 1 1</ambient>
<specular>0.5 0.5 0.5 1</specular> <specular>0.5 0.5 0.5 1</specular>
<emissive>0 0 0 1</emissive> <emissive>0 0 0 1</emissive>
<texture> <!-- <texture> -->
<diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map> <!-- <diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map> -->
</texture> <!-- </texture> -->
<pbr> <pbr>
<metal> <metal>
<albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map> <albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map>
@ -29,20 +29,21 @@
</material> </material>
</visual> </visual>
<collision name="shildik_collision"> <collision name="shildik_collision">
<density>2700</density>
<geometry> <geometry>
<box> <box>
<size>0.06 0.04 0.0005</size> <size>0.06 0.04 0.0005</size>
</box> </box>
</geometry> </geometry>
<surface> <!-- <surface> -->
<contact> <!-- <contact> -->
<ode /> <!-- <ode /> -->
</contact> <!-- </contact> -->
<bounce /> <!-- <bounce /> -->
<friction> <!-- <friction> -->
<ode /> <!-- <ode /> -->
</friction> <!-- </friction> -->
</surface> <!-- </surface> -->
</collision> </collision>
</link> </link>
</model> </model>

0
rbs_mill_assist/current.urdf Normal file
View file