add conductor to scene
- change laser mesh to obj - update place position
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6 changed files with 85 additions and 3 deletions
BIN
rbs_mill_assist/assets/conductor/meshes/conductor.stl
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rbs_mill_assist/assets/conductor/meshes/conductor.stl
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rbs_mill_assist/assets/conductor/model.config
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rbs_mill_assist/assets/conductor/model.config
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<?xml version="1.0"?>
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<model>
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<name>conductor</name>
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<version>0.1</version>
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<sdf version='1.10'>model.sdf</sdf>
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<author>
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<name>Bill Finger</name>
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<email>ur.narmak@gmail.com</email>
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</author>
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<description>
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Empty
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</description>
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</model>
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rbs_mill_assist/assets/conductor/model.sdf
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rbs_mill_assist/assets/conductor/model.sdf
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<?xml version="1.0"?>
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<sdf version="1.10">
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<model name="conductor">
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<link name="conductor_link">
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<inertial auto="true" />
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<visual name="conductor_visual">
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<geometry>
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<mesh>
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<uri>model://conductor/meshes/conductor.stl</uri>
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</mesh>
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</geometry>
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<material>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<ambient>0.3 0.3 0.3 1</ambient>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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<!-- <texture> -->
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<!-- <diffuse_map>model://conductor/textures/Metal055A_2K-PNG_Color.png</diffuse_map> -->
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<!-- </texture> -->
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<!-- <pbr> -->
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<!-- <metal> -->
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<!-- <albedo_map>model://conductor/textures/Metal055A_2K-PNG_Color.png</albedo_map> -->
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<!-- <normal_map>model://conductor/textures/Metal055A_2K-PNG_NormalDX.png</normal_map> -->
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<!-- <roughness_map>model://conductor/textures/Metal055A_2K-PNG_Roughness.png</roughness_map> -->
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<!-- <metalness_map>model://conductor/textures/Metal055A_2K-PNG_Metalness.png</metalness_map> -->
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<!-- </metal> -->
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<!-- </pbr> -->
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</material>
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</visual>
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<collision name="conductor_collision">
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<geometry>
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<mesh>
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<uri>model://conductor/meshes/conductor.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>1e6</kp>
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<kd>1e3</kd>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<bounce>
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<restitution>0.3</restitution>
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</bounce>
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<friction>
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<ode>
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<mu>0.61</mu>
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<mu2>0.47</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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</model>
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</sdf>
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@ -7,7 +7,7 @@
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<visual name="laser_visual">
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<geometry>
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<mesh>
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<uri>model://laser/meshes/laser.stl</uri>
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<uri>model://laser/meshes/laser.obj</uri>
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</mesh>
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</geometry>
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<material>
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@ -32,7 +32,7 @@
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<collision name="laser_collision">
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<geometry>
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<mesh>
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<uri>model://laser/meshes/laser.stl</uri>
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<uri>model://laser/meshes/laser.obj</uri>
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</mesh>
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</geometry>
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<surface>
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@ -76,7 +76,7 @@ from_graver:
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position:
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x: 0.40
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y: 0.0
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z: 0.0
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z: 0.01
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orientation:
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x: 0.707
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y: 0.707
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@ -92,6 +92,12 @@
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<uri>model://bunker</uri>
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</include>
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<include>
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<static>true</static>
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<pose>0.20 0 0.01 0 0 1.57</pose>
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<uri>model://conductor</uri>
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</include>
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<model name="rgbd_camera">
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<pose>0 -0.93 0.42 0 0.4 1.81</pose>
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<static>1</static>
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