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Absolem: Remove debug visuals [SDF 1.6] (#878)
* Absolem: Sync Xacro: Change IMU and friction parameters in Xacro to correspond to the desired values in SDF. * Absolem: Sync Xacro: Re-generate model.sdf using libsdformat 8.9.1 . This commit makes no real change to the geometry of the model, it just represents some numbers and rotations differently. * Absolem: Removed empty link visuals as they obstructed the omnicam and were not good for anything else.
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‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf

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@@ -234,47 +234,31 @@
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</mesh>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__imu_visual_3">
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<pose>0 0 0.15 -3.1415926535897931 0 0</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__laser_base_visual_4">
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<pose>0.2502 0 0.1407 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__jetson_visual_5">
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<visual name="base_link_fixed_joint_lump__jetson_visual_3">
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<pose>0.136 0.0435 0.2125 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.07 0.1 0.055</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_6">
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<visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_4">
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<pose>-0.295 -0.1065 0.36 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.35</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__mobilicom_visual_7">
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<visual name="base_link_fixed_joint_lump__mobilicom_visual_5">
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<pose>-0.275459 -0.078002 0.407765 -1.56579 -0.858407 -7.3e-05</pose>
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<geometry>
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<box>
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<size>0.12 0.075 0.037</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_8">
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<visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_6">
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<pose>-0.139117 -0.02338 0.465445 -1.29704 -0.418237 -1.17028</pose>
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<geometry>
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<cylinder>
@@ -283,7 +267,7 @@
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</cylinder>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_9">
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<visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_7">
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<pose>-0.193116 -0.064558 0.541453 -0.7124 0.007057 -1.5707963267948966</pose>
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<geometry>
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<cylinder>
@@ -292,151 +276,23 @@
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</cylinder>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__top_box_visual_10">
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<visual name="base_link_fixed_joint_lump__top_box_visual_8">
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<pose>0.022 -0.0557 0.185 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>meshes/top_box.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__omnicam_visual_11">
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<visual name="base_link_fixed_joint_lump__omnicam_visual_9">
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<pose>0.0243 -0.0574 0.3142 0 0 -0.628319</pose>
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<geometry>
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<mesh>
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<uri>meshes/omnicam.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_0_visual_12">
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<pose>0.057346 -0.083518 0.313841 -1.5707963267948966 -0.000784 -2.19802</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_0_sim_visual_13">
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<pose>0.057346 -0.083518 0.313841 -0.000948 -0.000784 -2.19802</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_1_visual_14">
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<pose>0.009992 -0.096606 0.314114 -1.57187 0.000853 2.82791</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_1_sim_visual_15">
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<pose>0.009992 -0.096606 0.314114 -0.001069 0.000853 2.82791</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_2_visual_16">
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<pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56974</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_2_sim_visual_17">
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<pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_3_visual_18">
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<pose>0.012561 -0.017068 0.314417 -1.5707963267948966 0.005611 0.313689</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_3_sim_visual_19">
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<pose>0.012561 -0.017068 0.314417 -0.000579 0.005611 0.313689</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_4_visual_20">
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<pose>0.058951 -0.03438 0.313899 -1.58161 0.001034 -0.943109</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_4_sim_visual_21">
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<pose>0.058951 -0.03438 0.313899 -0.010815 0.001034 -0.943109</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_5_visual_22">
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<pose>0.024083 -0.058382 0.376328 0.003778 0.000786 -2.20023</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
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<pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__omnicam_forward_visual_24">
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<pose>0.0243 -0.0574 0.3142 0 0 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__omnicam_bottom_visual_25">
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<pose>0.0243 -0.0574 0.2482 0 0 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__omnicam_top_visual_26">
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<pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__omnicam_sensor_mount_visual_27">
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<pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_28">
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<visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_10">
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<pose>0.088136 -0.07392 0.386942 -5e-06 -0.002418 1.57486</pose>
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<geometry>
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<mesh>
@@ -449,31 +305,7 @@
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_back_mounting_plane_visual_29">
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<pose>0.115312 -0.018929 0.4382 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_tripod_screw_link_visual_30">
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<pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_bottom_screw_frame_visual_31">
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<pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_link_visual_32">
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<visual name="base_link_fixed_joint_lump__camera_link_visual_11">
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<pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
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<geometry>
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<mesh>
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_depth_frame_visual_33">
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<pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_color_frame_visual_34">
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<pose>0.125592 0.021526 0.436138 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_color_optical_frame_visual_35">
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<pose>0.125592 0.021526 0.436138 -2.07031 0.013167 -1.5783</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_depth_optical_frame_visual_36">
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<pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_left_ir_frame_visual_37">
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<pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_left_ir_optical_frame_visual_38">
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<pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_right_ir_frame_visual_39">
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<pose>0.125104 -0.043467 0.435282 0.015 0.499467 -0.000319</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</geometry>
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</visual>
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<visual name="base_link_fixed_joint_lump__camera_right_ir_optical_frame_visual_40">
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<pose>0.125104 -0.043467 0.435282 -2.07031 0.013167 -1.5783</pose>
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<geometry>
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<box>
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<size>0.005 0.005 0.005</size>
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</box>
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</geometry>
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</visual>
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<light name="light_left" type="spot">
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<pose>0 0.13 0.2 1.5707963267948966 1.5707963267948966 0</pose>
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<attenuation>

‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro

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@@ -49,15 +49,6 @@
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<xacro:macro name="empty_link" params="name">
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<link name="${name}">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.005 0.005 0.005"/>
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</geometry>
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<material name="invisible_color">
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<color rgba="1 0 0 0.5"/>
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</material>
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</visual>
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<xacro:default_inertial />
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</link>
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</xacro:macro>

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