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Update visual of the Gazebo model to the new version

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Use STL instead of DAE, make props separated visuals
This commit is contained in:
Oleg Kalachev 2024-10-23 09:41:16 +03:00
parent a94687bd56
commit c41c96a96d
4 changed files with 29 additions and 3 deletions
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2
gazebo/flix.world
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@ -23,7 +23,7 @@
</include> </include>
<include> <include>
<uri>model://flix</uri> <uri>model://flix</uri>
<pose>0 0 0.2 0 0 0</pose> <pose>0 0 0.3 0 0 0</pose>
</include> </include>
</world> </world>
</sdf> </sdf>

30
gazebo/models/flix/flix.sdf
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@ -13,14 +13,40 @@
<collision name="collision"> <collision name="collision">
<geometry> <geometry>
<box> <box>
<size>0.125711 0.125711 0.022</size> <size>0.095 0.095 0.0276</size>
</box> </box>
</geometry> </geometry>
</collision> </collision>
<visual name="body"> <visual name="body">
<geometry> <geometry>
<mesh><uri>model://flix/flix.dae</uri></mesh> <mesh><uri>model://flix/flix.stl</uri></mesh>
</geometry> </geometry>
<material>
<ambient>0.5 0.5 0.6 1</ambient>
<diffuse>0.5 0.5 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<visual name="prop0"><!-- rear left -->
<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
<pose>-0.04243 0.04243 0.0142 0 0 0</pose>
<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
</visual>
<visual name="prop1"><!-- rear right -->
<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
<pose>-0.04243 -0.04243 0.0142 0 0 0</pose>
<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
</visual>
<visual name="prop2"><!-- front right -->
<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
<pose>0.04243 -0.04243 0.0142 0 0 0</pose>
<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
</visual>
<visual name="prop3"><!-- front left -->
<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
<pose>0.04243 0.04243 0.0142 0 0 0</pose>
<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
</visual> </visual>
<sensor name="imu" type="imu"> <sensor name="imu" type="imu">
<always_on>1</always_on> <always_on>1</always_on>

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gazebo/models/flix/flix.stl Normal file
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0
gazebo/models/flix/flix.dae → gazebo/models/flix/flix0.dae
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