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Add cable and mounts for phase 2 #607

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Merged
luca-della-vedova merged 10 commits into from
Aug 14, 2026
Merged

Add cable and mounts for phase 2 #607

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ef53461
testing phase 2 mounts
iche033 Jul 15, 2026
019cdda
add phase 2 cable
iche033 Jul 15, 2026
c38de88
add phase 2 cable
iche033 Jul 15, 2026
c101fa1
update offset to 2cm
iche033 Jul 16, 2026
46d71be
Add phase 2 cable to launch
kaushikbalasundar Jul 21, 2026
65cf578
Merge branch 'iche033/phase_2_mounts' into luca/phase_2_cable
luca-della-vedova Jul 24, 2026
0c952af
Add missing launch file param
luca-della-vedova Jul 27, 2026
6327b9c
Update mount models, xacro, cable asset
luca-della-vedova Jul 28, 2026
4f95f3a
update cable phase 2 pose so that sfp module does not penetrate the m…
iche033 Aug 5, 2026
6961747
Merge branch 'phase_2' into luca/phase_2_cable
luca-della-vedova Aug 14, 2026
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241 changes: 241 additions & 0 deletions aic_assets/models/cable_mount_phase_2.sdf
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<?xml version="1.0" ?>
<!--
Load several rendering sensors.
-->
<sdf version="1.6">
<world name="cable_mount">
<physics name="1ms" type="ignored">
<max_step_size>0.002</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>


<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<!--plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane-->
<box>
<size>20 20 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<!--plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane-->
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<pose>0.028558 0 1.02189 0.762406 0 -1.57079</pose>
<uri>model://SFP Module</uri>
</include>

<include>
<static>true</static>
<pose>0 0 1 0 0.0 0</pose>
<uri>model://SFP Mount</uri>
</include>

<include>
<name>sfp_mount_phase_2</name>
<static>true</static>
<pose>0 0.1 1 0 0.0 0</pose>
<uri>model://sfp_mount_phase_2</uri>
</include>



<include>
<pose>0.024812 0.2 1.01569 1.57079 0.785398 3.14159</pose>
<uri>model://SC Plug</uri>
</include>

<include>
<static>true</static>
<pose>0.0 0.2 1 0 0 0</pose>
<uri>model://SC Mount</uri>
</include>

<include>
<name>sc_mount_phase_2</name>
<static>true</static>
<pose>0.0 0.3 1 0 0 0</pose>
<uri>model://sc_mount_phase_2</uri>
</include>



<!-- <include>
<pose>0.0 0.5 1.0 0 0 0</pose>
<uri>model://NIC Card Mount</uri>
</include>

<include>
<pose>0.0 -0.5 1.0 0 0 0</pose>
<uri>model://NIC Card</uri>
</include>
-->



</world>
</sdf>
14 changes: 14 additions & 0 deletions aic_assets/models/sc_mount_phase_2/model.config
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<model>
<name>SC Mount</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
<email>cole.bsmr@gmail.com</email>
</author>

<description>
Part that holds an SC plug.
</description>
</model>
103 changes: 103 additions & 0 deletions aic_assets/models/sc_mount_phase_2/model.sdf
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<?xml version="1.0" ?>
<sdf xmlns:intrinsic="https://intrinsic.ai/" version="1.9">
<model name="SC Mount">
<link name="sc_mount_link">
<visual name="sc_mount_visual">
<geometry>
<mesh>
<uri>sc_mount_visual.glb</uri>
</mesh>
</geometry>
</visual>
<collision name="v1015079011_collider_box.001">
<pose>6.8e-05 -0.00565 0.019451 0.0 0.785398 -0.0</pose>
<geometry>
<box>
<size>0.025823 0.002705 0.013809</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box.002">
<pose>6.8e-05 0.0061 0.019451 0.0 0.785398 -0.0</pose>
<geometry>
<box>
<size>0.025823 0.001803 0.013809</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box003_collider_box">
<pose>-0.008527 -0.0 0.028047 0.0 0.785398 -0.0</pose>
<geometry>
<box>
<size>0.001502 0.014087 0.013819</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box003_collider_box.001">
<pose>0.008741 -0.0 0.010779 0.0 0.785398 -0.0</pose>
<geometry>
<box>
<size>0.001343 0.014087 0.013819</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box003_collider_box.003">
<pose>-0.004726 -0.0 0.014656 0.0 0.785398 -0.0</pose>
<geometry>
<box>
<size>0.025832 0.014122 0.001241</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box003_collider_box.004">
<pose>0.012889 -0.0 0.010624 0.0 -0.0 -0.0</pose>
<geometry>
<box>
<size>0.002224 0.01402 0.009286</size>
</box>
</geometry>
</collision>
<collision name="v1015079011_collider_box003_collider_box004_collider_box">
<pose>-0.012955 -0.0 0.014711 0.0 -0.0 -0.0</pose>
<geometry>
<box>
<size>0.002092 0.01402 0.017492</size>
</box>
</geometry>
</collision>
<collision name="fixture for sc plug_collider_box">
<pose>0.0 -0.011259 0.0085 0.0 -0.0 0.0</pose>
<geometry>
<box>
<size>0.006004 0.008524 0.005004</size>
</box>
</geometry>
</collision>
<collision name="fixture for sc plug_collider_box.001">
<pose>0.0 0.011259 0.0085 0.0 -0.0 0.0</pose>
<geometry>
<box>
<size>0.006004 0.008524 0.005004</size>
</box>
</geometry>
</collision>
<collision name="plug fixture base mount_collider_box.002">
<pose>0.0 0.0 0.0025 0.0 -0.0 0.0</pose>
<geometry>
<box>
<size>0.05102 0.006004 0.005014</size>
</box>
</geometry>
</collision>
<collision name="plug fixture base mount_collider_cylinder.002">
<pose>0.0 0.0 0.003 0.0 -0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.015206</radius>
<length>0.006017</length>
</cylinder>
</geometry>
</collision>
</link>
</model>
</sdf>
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