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Apr 6, 2021
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Absolem: syncronize Xacro with manual edits of model.sdf #877

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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
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164 changes: 82 additions & 82 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@
</geometry>
</collision>
<collision name="base_link_fixed_joint_lump__antenna_collision_8">
<pose>-0.39064 0.0789 0.1551 3.1415926535897931 1.5707963267948966 3.1415926535897931</pose>
<pose>-0.39064 0.0789 0.1551 0 1.5707963267948966 0</pose>
<geometry>
<cylinder>
<length>0.03718</length>
Expand Down Expand Up @@ -235,7 +235,7 @@
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__imu_visual_3">
<pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
<pose>0 0 0.15 -3.1415926535897931 0 0</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
Expand Down Expand Up @@ -341,15 +341,15 @@
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_2_visual_16">
<pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56975</pose>
<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 1.56975</pose>
<pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
Expand Down Expand Up @@ -397,7 +397,7 @@
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
<pose>0.024083 -0.058382 0.376328 3.1415926535897931 -1.5707963267948966 0.945143</pose>
<pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
<geometry>
<box>
<size>0.005 0.005 0.005</size>
Expand Down Expand Up @@ -474,7 +474,7 @@
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__camera_link_visual_32">
<pose>0.133719 -0.010853 0.422031 2.07031 -0.013168 1.56329</pose>
<pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
<geometry>
<mesh>
<uri>meshes/realsense_d435.dae</uri>
Expand Down Expand Up @@ -639,77 +639,77 @@
<always_on>1</always_on>
<update_rate>50</update_rate>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</z>
</linear_acceleration>
</imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</z>
</linear_acceleration>
</imu>
<pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
</sensor>
<sensor name="omnicam_sensor0" type="camera">
Expand Down Expand Up @@ -996,7 +996,7 @@
</sensor>
</link>
<link name="laser">
<pose>0.2502 0 0.1407 -3.1415926535897931 -0 0</pose>
<pose>0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
<inertial>
<pose>0 0 -0.04 0 -0 0</pose>
<mass>1.1</mass>
Expand Down Expand Up @@ -1179,7 +1179,7 @@
</surface>
</collision>
<visual name="front_left_flipper_visual">
<pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
<pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
<geometry>
<mesh>
<uri>meshes/flipper.dae</uri>
Expand Down Expand Up @@ -1986,7 +1986,7 @@
</surface>
</collision>
<visual name="rear_left_flipper_visual">
<pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
<pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
<geometry>
<mesh>
<uri>meshes/flipper.dae</uri>
Expand Down Expand Up @@ -2408,7 +2408,7 @@
</surface>
</collision>
<visual name="front_right_flipper_visual">
<pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
<pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
<geometry>
<mesh>
<uri>meshes/flipper.dae</uri>
Expand Down Expand Up @@ -2759,7 +2759,7 @@
</surface>
</collision>
<visual name="rear_right_flipper_visual">
<pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
<pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
<geometry>
<mesh>
<uri>meshes/flipper.dae</uri>
Expand Down
6 changes: 5 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,12 @@ MODEL_DIR="${DIR}/.."
source "${MODEL_DIR}/config/common.sh"
source "${MODEL_DIR}/config/sdf.sh"

sdf8_version="$(ign sdf --versions | grep '^8')" || true
[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1
echo "Found libsdformat ${sdf8_version}" >&2

rosrun xacro xacro "${MODEL_DIR}/urdf/nifti_robot.xacro" ${config} > "${MODEL_DIR}/nifti_robot.sdf.urdf"
ign sdf -p "${MODEL_DIR}/nifti_robot.sdf.urdf" | "${DIR}/high_precision_constants.py" - > "${MODEL_DIR}/model.sdf"
ign sdf --force-version "$sdf8_version" -p "${MODEL_DIR}/nifti_robot.sdf.urdf" | "${DIR}/high_precision_constants.py" - > "${MODEL_DIR}/model.sdf"
sed -i -e 's#model://ctu_cras_norlab_absolem_sensor_config_1/##g' \
-e '/<surface>/{:a;N;/<\/surface>/!ba};/<surface>\n\s*<contact>\n\s*<ode\/>\n\s*<\/contact>\n\s*<friction>\n\s*<ode\/>\n\s*<\/friction>\n\s*<\/surface>/d' \
-e '/<pose>\(-\?0 \?\)\{6\}<\/pose>/d' \
Expand Down
74 changes: 40 additions & 34 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -1185,9 +1185,9 @@
</contact>
<friction>
<ode>
<mu>1</mu>
<mu>0.5</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip1>0.00092</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
Expand All @@ -1205,9 +1205,9 @@
</contact>
<friction>
<ode>
<mu>1</mu>
<mu>0.5</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip1>0.00092</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
Expand Down Expand Up @@ -1572,63 +1572,69 @@
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>1e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>1e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>1e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</z>
</linear_acceleration>
Expand Down