add conductor to scene

- change laser mesh to obj
- update place position

rbs_mill_assist/assets/conductor/model.config

@@ -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>

rbs_mill_assist/assets/conductor/model.sdf

@@ -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>

rbs_mill_assist/assets/laser/model.sdf

@@ -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>

rbs_mill_assist/config/grasping.yaml

@@ -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

rbs_mill_assist/world/default.sdf

@@ -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>