Update visual of the Gazebo model to the new version

Use STL instead of DAE, make props separated visuals
okalachev · Oct 23, 2024 · c41c96a · c41c96a
1 parent a94687b
commit c41c96a
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Showing 4 changed files with 29 additions and 3 deletions.
diff --git a/gazebo/flix.world b/gazebo/flix.world
@@ -23,7 +23,7 @@
 		</include>
 		<include>
 			<uri>model://flix</uri>
-			<pose>0 0 0.2 0 0 0</pose>
+			<pose>0 0 0.3 0 0 0</pose>
 		</include>
 	</world>
 </sdf>
diff --git a/gazebo/models/flix/flix.sdf b/gazebo/models/flix/flix.sdf
@@ -13,14 +13,40 @@
 			<collision name="collision">
 				<geometry>
 					<box>
-						<size>0.125711 0.125711 0.022</size>
+						<size>0.095 0.095 0.0276</size>
 					</box>
 				</geometry>
 			</collision>
 			<visual name="body">
 				<geometry>
-					<mesh><uri>model://flix/flix.dae</uri></mesh>
+					<mesh><uri>model://flix/flix.stl</uri></mesh>
 				</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>
 			<sensor name="imu" type="imu">
 				<always_on>1</always_on>

diff --git a/gazebo/models/flix/flix.stl b/gazebo/models/flix/flix.stl
diff --git a/gazebo/models/flix/flix.dae → gazebo/models/flix/flix0.dae b/gazebo/models/flix/flix.dae → gazebo/models/flix/flix0.dae