add conductor to scene

- change laser mesh to obj
- update place position
This commit is contained in:
Ilya Uraev 2025-03-13 14:25:59 +03:00
parent 1f7dc11289
commit 6c5cf0633c
6 changed files with 85 additions and 3 deletions

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@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>conductor</name>
<version>0.1</version>
<sdf version='1.10'>model.sdf</sdf>
<author>
<name>Bill Finger</name>
<email>ur.narmak@gmail.com</email>
</author>
<description>
Empty
</description>
</model>

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@ -0,0 +1,60 @@
<?xml version="1.0"?>
<sdf version="1.10">
<model name="conductor">
<link name="conductor_link">
<inertial auto="true" />
<visual name="conductor_visual">
<geometry>
<mesh>
<uri>model://conductor/meshes/conductor.stl</uri>
</mesh>
</geometry>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<ambient>0.3 0.3 0.3 1</ambient>
<specular>0.2 0.2 0.2 1</specular>
<emissive>0 0 0 1</emissive>
<!-- <texture> -->
<!-- <diffuse_map>model://conductor/textures/Metal055A_2K-PNG_Color.png</diffuse_map> -->
<!-- </texture> -->
<!-- <pbr> -->
<!-- <metal> -->
<!-- <albedo_map>model://conductor/textures/Metal055A_2K-PNG_Color.png</albedo_map> -->
<!-- <normal_map>model://conductor/textures/Metal055A_2K-PNG_NormalDX.png</normal_map> -->
<!-- <roughness_map>model://conductor/textures/Metal055A_2K-PNG_Roughness.png</roughness_map> -->
<!-- <metalness_map>model://conductor/textures/Metal055A_2K-PNG_Metalness.png</metalness_map> -->
<!-- </metal> -->
<!-- </pbr> -->
</material>
</visual>
<collision name="conductor_collision">
<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>
</collision>
</link>
</model>
</sdf>

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@ -7,7 +7,7 @@
<visual name="laser_visual">
<geometry>
<mesh>
<uri>model://laser/meshes/laser.stl</uri>
<uri>model://laser/meshes/laser.obj</uri>
</mesh>
</geometry>
<material>
@ -32,7 +32,7 @@
<collision name="laser_collision">
<geometry>
<mesh>
<uri>model://laser/meshes/laser.stl</uri>
<uri>model://laser/meshes/laser.obj</uri>
</mesh>
</geometry>
<surface>

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@ -76,7 +76,7 @@ from_graver:
position:
x: 0.40
y: 0.0
z: 0.0
z: 0.01
orientation:
x: 0.707
y: 0.707

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@ -92,6 +92,12 @@
<uri>model://bunker</uri>
</include>
<include>
<static>true</static>
<pose>0.20 0 0.01 0 0 1.57</pose>
<uri>model://conductor</uri>
</include>
<model name="rgbd_camera">
<pose>0 -0.93 0.42 0 0.4 1.81</pose>
<static>1</static>