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Absolem: Remove debug visuals [SDF 1.6] #878

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merged 4 commits into from
Apr 16, 2021
Merged

Absolem: Remove debug visuals [SDF 1.6] #878

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c4262cb
Absolem: Sync Xacro: Change IMU and friction parameters in Xacro to c…
peci1 Mar 29, 2021
a325360
Absolem: Sync Xacro: Re-generate model.sdf using libsdformat 8.9.1 .
peci1 Apr 4, 2021
1654c18
Absolem: Removed empty link visuals as they obstructed the omnicam an…
peci1 Mar 30, 2021
8428091
Merge branch 'master' into submitted_models/absolem/remove_debug_visuals
peci1 Apr 6, 2021
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250 changes: 9 additions & 241 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -234,47 +234,31 @@
</mesh>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__imu_visual_3">
<pose>0 0 0.15 -3.1415926535897931 0 0</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__laser_base_visual_4">
<pose>0.2502 0 0.1407 0 -0 0</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__jetson_visual_5">
<visual name="base_link_fixed_joint_lump__jetson_visual_3">
<pose>0.136 0.0435 0.2125 0 -0 0</pose>
<geometry>
<box>
<size>0.07 0.1 0.055</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_6">
<visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_4">
<pose>-0.295 -0.1065 0.36 0 -0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.35</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__mobilicom_visual_7">
<visual name="base_link_fixed_joint_lump__mobilicom_visual_5">
<pose>-0.275459 -0.078002 0.407765 -1.56579 -0.858407 -7.3e-05</pose>
<geometry>
<box>
<size>0.12 0.075 0.037</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_8">
<visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_6">
<pose>-0.139117 -0.02338 0.465445 -1.29704 -0.418237 -1.17028</pose>
<geometry>
<cylinder>
Expand All @@ -283,7 +267,7 @@
</cylinder>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_9">
<visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_7">
<pose>-0.193116 -0.064558 0.541453 -0.7124 0.007057 -1.5707963267948966</pose>
<geometry>
<cylinder>
Expand All @@ -292,151 +276,23 @@
</cylinder>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__top_box_visual_10">
<visual name="base_link_fixed_joint_lump__top_box_visual_8">
<pose>0.022 -0.0557 0.185 0 -0 0</pose>
<geometry>
<mesh>
<uri>meshes/top_box.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__omnicam_visual_11">
<visual name="base_link_fixed_joint_lump__omnicam_visual_9">
<pose>0.0243 -0.0574 0.3142 0 0 -0.628319</pose>
<geometry>
<mesh>
<uri>meshes/omnicam.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_0_visual_12">
<pose>0.057346 -0.083518 0.313841 -1.5707963267948966 -0.000784 -2.19802</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_0_sim_visual_13">
<pose>0.057346 -0.083518 0.313841 -0.000948 -0.000784 -2.19802</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_1_visual_14">
<pose>0.009992 -0.096606 0.314114 -1.57187 0.000853 2.82791</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_1_sim_visual_15">
<pose>0.009992 -0.096606 0.314114 -0.001069 0.000853 2.82791</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_2_visual_16">
<pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56974</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_2_sim_visual_17">
<pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_3_visual_18">
<pose>0.012561 -0.017068 0.314417 -1.5707963267948966 0.005611 0.313689</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_3_sim_visual_19">
<pose>0.012561 -0.017068 0.314417 -0.000579 0.005611 0.313689</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_4_visual_20">
<pose>0.058951 -0.03438 0.313899 -1.58161 0.001034 -0.943109</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_4_sim_visual_21">
<pose>0.058951 -0.03438 0.313899 -0.010815 0.001034 -0.943109</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_5_visual_22">
<pose>0.024083 -0.058382 0.376328 0.003778 0.000786 -2.20023</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
<pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__omnicam_forward_visual_24">
<pose>0.0243 -0.0574 0.3142 0 0 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__omnicam_bottom_visual_25">
<pose>0.0243 -0.0574 0.2482 0 0 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__omnicam_top_visual_26">
<pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__omnicam_sensor_mount_visual_27">
<pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_28">
<visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_10">
<pose>0.088136 -0.07392 0.386942 -5e-06 -0.002418 1.57486</pose>
<geometry>
<mesh>
Expand All @@ -449,31 +305,7 @@
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
<visual name="base_link_fixed_joint_lump__camera_back_mounting_plane_visual_29">
<pose>0.115312 -0.018929 0.4382 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_tripod_screw_link_visual_30">
<pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_bottom_screw_frame_visual_31">
<pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_link_visual_32">
<visual name="base_link_fixed_joint_lump__camera_link_visual_11">
<pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
<geometry>
<mesh>
Expand All @@ -485,70 +317,6 @@
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
<visual name="base_link_fixed_joint_lump__camera_depth_frame_visual_33">
<pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_color_frame_visual_34">
<pose>0.125592 0.021526 0.436138 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_color_optical_frame_visual_35">
<pose>0.125592 0.021526 0.436138 -2.07031 0.013167 -1.5783</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_depth_optical_frame_visual_36">
<pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_left_ir_frame_visual_37">
<pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_left_ir_optical_frame_visual_38">
<pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_right_ir_frame_visual_39">
<pose>0.125104 -0.043467 0.435282 0.015 0.499467 -0.000319</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_right_ir_optical_frame_visual_40">
<pose>0.125104 -0.043467 0.435282 -2.07031 0.013167 -1.5783</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
</box>
</geometry>
</visual>
<light name="light_left" type="spot">
<pose>0 0.13 0.2 1.5707963267948966 1.5707963267948966 0</pose>
<attenuation>
Expand Down
9 changes: 0 additions & 9 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,6 @@

<xacro:macro name="empty_link" params="name">
<link name="${name}">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.005 0.005 0.005"/>
</geometry>
<material name="invisible_color">
<color rgba="1 0 0 0.5"/>
</material>
</visual>
<xacro:default_inertial />
</link>
</xacro:macro>
Expand Down