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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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orbbec_astra_camera/materials/textures/orbbec_astra_camera_tex.png Normal file
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orbbec_astra_camera/meshes/orbbec_astra_camera.dae Normal file
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<?xml version="1.0"?>
<model>
<version>1.0</version>
<name>Orbbec Astra Depth Camera</name>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Adam Allevato</name>
<email>adam.d.allevato@gmail.com</email>
</author>
<description>
The Orbbec Astra medium-range depth camera, with a range of approximately
0.6-8m. https://orbbec3d.com/product-astra/
</description>
</model>

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orbbec_astra_camera/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="orbbec_astra_camera">
<pose>0 0 0.024 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.22</mass>
<inertia>
<ixx>0.000513887</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00008685</iyy>
<iyz>0</iyz>
<izz>0.00050009</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.06 0.17 0.048</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0.4</mu>
<mu2>0.4</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://orbbec_astra_camera/meshes/orbbec_astra_camera.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="camera" type="depth">
<pose>0.035 0.015 0.008 0 0 0</pose>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.0472</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.6</near>
<far>8</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>