diff --git a/aic_assets/models/cable_base_c_rotated_phase_2/model.config b/aic_assets/models/cable_base_c_rotated_phase_2/model.config new file mode 100644 index 000000000..bbc9a8f2c --- /dev/null +++ b/aic_assets/models/cable_base_c_rotated_phase_2/model.config @@ -0,0 +1,14 @@ + + + Cable Base Type C Rotated for Phase 1 + 0.1.0 + model.sdf + + + Ian Chen + iche@intrinsic.ai + + + Cable body with connection type C and rotated joints. 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1 + + -inf + inf + inf + inf + 100000000 + 1 + + + 0 + 0 + 0.20000000000000001 + 0 + + + + + diff --git a/aic_assets/models/cable_mount_phase_2.sdf b/aic_assets/models/cable_mount_phase_2.sdf new file mode 100644 index 000000000..d7a12a73d --- /dev/null +++ b/aic_assets/models/cable_mount_phase_2.sdf @@ -0,0 +1,241 @@ + + + + + + 0.002 + 1.0 + + + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + World control + false + false + 72 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + docked + + + + + + + docked + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + + 20 20 0.1 + + + + + + + + 20 20 0.1 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0.028558 0 1.02189 0.762406 0 -1.57079 + model://SFP Module + + + + true + 0 0 1 0 0.0 0 + model://SFP Mount + + + + sfp_mount_phase_2 + true + 0 0.1 1 0 0.0 0 + model://sfp_mount_phase_2 + + + + + + 0.024812 0.2 1.01569 1.57079 0.785398 3.14159 + model://SC Plug + + + + true + 0.0 0.2 1 0 0 0 + model://SC Mount + + + + sc_mount_phase_2 + true + 0.0 0.3 1 0 0 0 + model://sc_mount_phase_2 + + + + + + + + + + diff --git a/aic_assets/models/sc_mount_phase_2/model.config b/aic_assets/models/sc_mount_phase_2/model.config new file mode 100644 index 000000000..a4f3204c6 --- /dev/null +++ b/aic_assets/models/sc_mount_phase_2/model.config @@ -0,0 +1,14 @@ + + SC Mount + 1.0 + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Part that holds an SC plug. + + \ No newline at end of file diff --git a/aic_assets/models/sc_mount_phase_2/model.sdf b/aic_assets/models/sc_mount_phase_2/model.sdf new file mode 100644 index 000000000..8839b204d --- /dev/null +++ b/aic_assets/models/sc_mount_phase_2/model.sdf @@ -0,0 +1,103 @@ + + + + + + + + sc_mount_visual.glb + + + + + 6.8e-05 -0.00565 0.019451 0.0 0.785398 -0.0 + + + 0.025823 0.002705 0.013809 + + + + + 6.8e-05 0.0061 0.019451 0.0 0.785398 -0.0 + + + 0.025823 0.001803 0.013809 + + + + + -0.008527 -0.0 0.028047 0.0 0.785398 -0.0 + + + 0.001502 0.014087 0.013819 + + + + + 0.008741 -0.0 0.010779 0.0 0.785398 -0.0 + + + 0.001343 0.014087 0.013819 + + + + + -0.004726 -0.0 0.014656 0.0 0.785398 -0.0 + + + 0.025832 0.014122 0.001241 + + + + + 0.012889 -0.0 0.010624 0.0 -0.0 -0.0 + + + 0.002224 0.01402 0.009286 + + + + + -0.012955 -0.0 0.014711 0.0 -0.0 -0.0 + + + 0.002092 0.01402 0.017492 + + + + + 0.0 -0.011259 0.0085 0.0 -0.0 0.0 + + + 0.006004 0.008524 0.005004 + + + + + 0.0 0.011259 0.0085 0.0 -0.0 0.0 + + + 0.006004 0.008524 0.005004 + + + + + 0.0 0.0 0.0025 0.0 -0.0 0.0 + + + 0.05102 0.006004 0.005014 + + + + + 0.0 0.0 0.003 0.0 -0.0 0.0 + + + 0.015206 + 0.006017 + + + + + + diff --git a/aic_assets/models/sc_mount_phase_2/sc_mount_macro.xacro b/aic_assets/models/sc_mount_phase_2/sc_mount_macro.xacro new file mode 100644 index 000000000..093588337 --- /dev/null +++ b/aic_assets/models/sc_mount_phase_2/sc_mount_macro.xacro @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aic_assets/models/sc_mount_phase_2/sc_mount_visual.glb b/aic_assets/models/sc_mount_phase_2/sc_mount_visual.glb new file mode 100644 index 000000000..8b934ff32 Binary files /dev/null and b/aic_assets/models/sc_mount_phase_2/sc_mount_visual.glb differ diff --git a/aic_assets/models/sfp_mount_phase_2/model.config b/aic_assets/models/sfp_mount_phase_2/model.config new file mode 100644 index 000000000..483a196ed --- /dev/null +++ b/aic_assets/models/sfp_mount_phase_2/model.config @@ -0,0 +1,14 @@ + + SFP Mount + 1.0 + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Part that holds an SFP module. + + \ No newline at end of file diff --git a/aic_assets/models/sfp_mount_phase_2/model.sdf b/aic_assets/models/sfp_mount_phase_2/model.sdf new file mode 100644 index 000000000..c32d9100e --- /dev/null +++ b/aic_assets/models/sfp_mount_phase_2/model.sdf @@ -0,0 +1,95 @@ + + + + + + + + sfp_mount_visual.glb + + + + + 0.0 -0.0 0.01031 0.0 -0.0 0.0 + + + 0.030302 0.01777 0.008639 + + + + + -0.004422 -0.0 0.024972 0.0 -0.785398 0.0 + + + 0.03389 0.01777 0.001584 + + + + + 0.006374 -0.0 0.018568 0.0 -0.785398 0.0 + + + 0.027678 0.01777 0.003208 + + + + + -0.001197 0.008189 0.02004 0.0 -0.785398 0.0 + + + 0.036305 0.001392 0.010976 + + + + + -0.001435 -0.008188 0.020278 0.0 -0.785398 0.0 + + + 0.036305 0.001395 0.01165 + + + + + -0.008179 -0.0 0.013534 0.0 -0.785398 0.0 + + + 0.017258 0.01777 0.01165 + + + + + 0.014053 -0.0 0.017771 0.0 -0.0 0.0 + + + 0.004913 0.01777 0.016775 + + + + + -0.0 0.0 0.008 0.0 -0.0 0.0 + + + 0.00602 0.0311 0.00602 + + + + + -0.0 0.0 0.0025 0.0 -0.0 0.0 + + + 0.05102 0.00602 0.00502 + + + + + 0.0 -0.0 0.003 0.0 -0.0 0.0 + + + 0.01521 + 0.006019 + + + + + + diff --git a/aic_assets/models/sfp_mount_phase_2/sfp_mount_macro.xacro b/aic_assets/models/sfp_mount_phase_2/sfp_mount_macro.xacro new file mode 100644 index 000000000..94aed32f8 --- /dev/null +++ b/aic_assets/models/sfp_mount_phase_2/sfp_mount_macro.xacro @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aic_assets/models/sfp_mount_phase_2/sfp_mount_visual.glb b/aic_assets/models/sfp_mount_phase_2/sfp_mount_visual.glb new file mode 100644 index 000000000..7997b1afc Binary files /dev/null and b/aic_assets/models/sfp_mount_phase_2/sfp_mount_visual.glb differ diff --git a/aic_assets/models/sfp_sc_cable_phase_2/model.config b/aic_assets/models/sfp_sc_cable_phase_2/model.config new file mode 100644 index 000000000..e8345c64e --- /dev/null +++ b/aic_assets/models/sfp_sc_cable_phase_2/model.config @@ -0,0 +1,14 @@ + + + SFP SC Cable for Phase 1 + 0.1.0 + model.sdf + + + Ian Chen + iche@intrinsic.ai + + + A cable with SFP module on one end and SC plug on the other end. Configured for Phase 1. + + diff --git a/aic_assets/models/sfp_sc_cable_phase_2/model.sdf b/aic_assets/models/sfp_sc_cable_phase_2/model.sdf new file mode 100644 index 000000000..a1368bfd9 --- /dev/null +++ b/aic_assets/models/sfp_sc_cable_phase_2/model.sdf @@ -0,0 +1,60 @@ + + + + + model://cable_base_c_rotated_phase_2 + + + model://LC Plug + -0.041 0 0 0 3.14159 1.57079 + + + model://SC Plug + 0.052 0 0 0 0 0.0 + + + + + + + + + + + + + + model://SFP Module + 0 0.0384 0 0 3.14159 3.14159 + + + cable_connection_0 + lc_plug_link + + + cable_connection_1 + sc_plug_link + + + lc_plug_link + sfp_module_link + + + + true + false + false + false + true + true + true + false + 0 + 0 + + + + diff --git a/aic_bringup/launch/aic_gz_bringup.launch.py b/aic_bringup/launch/aic_gz_bringup.launch.py index cc5b0dec1..2ab47d279 100644 --- a/aic_bringup/launch/aic_gz_bringup.launch.py +++ b/aic_bringup/launch/aic_gz_bringup.launch.py @@ -667,8 +667,13 @@ def generate_launch_description(): DeclareLaunchArgument( "cable_type", default_value="sfp_sc_cable", - description="Type of cable model to spawn. Available options: 'sfp_sc_cable', and 'sfp_sc_cable_reversed'", - choices=["sfp_sc_cable", "sfp_sc_cable_reversed", "sfp_sc_cable_phase_1"], + description="Type of cable model to spawn. Available options: 'sfp_sc_cable', 'sfp_sc_cable_reversed', 'sfp_sc_cable_phase_1', and 'sfp_sc_cable_phase_2'", + choices=[ + "sfp_sc_cable", + "sfp_sc_cable_reversed", + "sfp_sc_cable_phase_1", + "sfp_sc_cable_phase_2", + ], ) ) declared_arguments.append( diff --git a/aic_bringup/launch/spawn_cable.launch.py b/aic_bringup/launch/spawn_cable.launch.py index ca23d0ea1..c67294699 100644 --- a/aic_bringup/launch/spawn_cable.launch.py +++ b/aic_bringup/launch/spawn_cable.launch.py @@ -151,7 +151,7 @@ def generate_launch_description(): "cable_type", default_value="sfp_sc_cable", description="Type of cable model to spawn. Available options: 'sfp_sc_cable', 'sfp_sc_cable_reversed', and 'sfp_sc_cable_phase_1'", - choices=["sfp_sc_cable", "sfp_sc_cable_reversed", "sfp_sc_cable_phase_1"], + choices=["sfp_sc_cable", "sfp_sc_cable_reversed", "sfp_sc_cable_phase_1", "sfp_sc_cable_phase_2"], ) ) declared_arguments.append( diff --git a/aic_description/urdf/task_board.urdf.xacro b/aic_description/urdf/task_board.urdf.xacro index 98a6eb705..e08b35803 100644 --- a/aic_description/urdf/task_board.urdf.xacro +++ b/aic_description/urdf/task_board.urdf.xacro @@ -3,8 +3,8 @@ - - + + @@ -153,7 +153,7 @@ - + @@ -163,7 +163,7 @@ - + diff --git a/aic_description/world/cable_phase_2_test.sdf b/aic_description/world/cable_phase_2_test.sdf new file mode 100644 index 000000000..67c086ff0 --- /dev/null +++ b/aic_description/world/cable_phase_2_test.sdf @@ -0,0 +1,217 @@ + + + + 0 0 0 + + 0.002 + 1.0 + + + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + World control + false + false + 72 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + docked + + + + + + + docked + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + + 20 20 0.1 + + + + + + + 20 20 0.1 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + enclosure + true + 0 0 0 0 0 0 + model://Enclosure + + + + cable + 0.0017559147672727704 -0.11399164795875549 1.2425658702850342 -2.8245333170319484 -1.0731767236652139 2.8995132648172817 + model://sfp_sc_cable_phase_2 + + + + + true + 0.0725 -0.11375 1.15 0 0 3.1415 + + sfp_mount + model://sfp_mount_phase_2 + + + + + true + 0.0275 -0.09375 1.152 0 0 3.1415 + sc_mount + model://sc_mount_phase_2 + + + +