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Merged
merged 3 commits into from
Mar 29, 2021
Merged

Add model.sdf files for robot models with a thermal camera #822

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81a22dc
keep track of robot model.sdf files
iche033 Mar 16, 2021
9758867
add model sdf to cerberus m100 2
iche033 Mar 16, 2021
b19bab4
documentation and formatting updates
adlarkin Mar 16, 2021
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6 changes: 6 additions & 0 deletions submitted_models/cerberus_m100_sensor_config_2/README.md
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This package spawns a `CERBERUS_M100_SENSOR_CONFIG_1` model with an additional
thermal camera

The `model.sdf` is not used but added here as a reference to show what is on
the SubT Tech Repo. Please keep this `model.sdf` update-to-date with
`CERBERUS_M100_SENSOR_CONFIG_1`
608 changes: 608 additions & 0 deletions submitted_models/cerberus_m100_sensor_config_2/model.sdf
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78 changes: 39 additions & 39 deletions submitted_models/marble_hd2_sensor_config_1/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -154,9 +154,9 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
Expand Down Expand Up @@ -913,9 +913,9 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
</metal>
</pbr>
<script>
Expand Down Expand Up @@ -975,9 +975,9 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>materials/textures/HD2_Albedo.png</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.png</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.png</roughness_map>
<albedo_map>materials/textures/HD2_Albedo.jpg</albedo_map>
<metalness_map>materials/textures/HD2_Metalness.jpg</metalness_map>
<roughness_map>materials/textures/HD2_Roughness.jpg</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
Expand Down Expand Up @@ -1087,33 +1087,33 @@
<lower>-1.5708</lower>
<!-- 90 degrees both direction (mechanical interference)-->
<upper>1.5708</upper>
<effort>10</effort>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0.5</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- Gimbal Joints Plugins -->
<plugin filename="libignition-gazebo-joint-controller-system.so" name="ignition::gazebo::systems::JointController">
<joint_name>pan_gimbal_joint</joint_name>
<use_force_commands>true</use_force_commands>
<p_gain>0.4</p_gain>
<i_gain>10</i_gain>
</plugin>
<plugin filename="libignition-gazebo-joint-controller-system.so" name="ignition::gazebo::systems::JointController">
<joint_name>tilt_gimbal_joint</joint_name>
<use_force_commands>true</use_force_commands>
<p_gain>0.4</p_gain>
<i_gain>10</i_gain>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
<joint_name>pan_gimbal_joint</joint_name>
<joint_name>tilt_gimbal_joint</joint_name>
</plugin>
<static>0</static>
</model>
</sdf>
<effort>10</effort>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0.5</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- Gimbal Joints Plugins -->
<plugin filename="libignition-gazebo-joint-controller-system.so" name="ignition::gazebo::systems::JointController">
<joint_name>pan_gimbal_joint</joint_name>
<use_force_commands>true</use_force_commands>
<p_gain>0.4</p_gain>
<i_gain>10</i_gain>
</plugin>
<plugin filename="libignition-gazebo-joint-controller-system.so" name="ignition::gazebo::systems::JointController">
<joint_name>tilt_gimbal_joint</joint_name>
<use_force_commands>true</use_force_commands>
<p_gain>0.4</p_gain>
<i_gain>10</i_gain>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher">
<joint_name>pan_gimbal_joint</joint_name>
<joint_name>tilt_gimbal_joint</joint_name>
</plugin>
<static>0</static>
</model>
</sdf>
6 changes: 6 additions & 0 deletions submitted_models/marble_hd2_sensor_config_3/README.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
This package spawns a `MARBLE_HD2_SENSOR_CONFIG_1` model with an additional
thermal camera

The `model.sdf` is not used but added here as a reference to show what is on
the SubT Tech Repo. Please keep this `model.sdf` update-to-date with
`MARBLE_HD2_SENSOR_CONFIG_1`
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