first commit
This commit is contained in:
Executable
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+160
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Executable
+34
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|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>iris_base</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
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||||
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||||
<author>
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||||
<name>Fadri Furrer</name>
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||||
<email>fadri.furrer@mavt.ethz.ch</email>
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||||
</author>
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||||
<author>
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||||
<name>Michael Burri</name>
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||||
</author>
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||||
<author>
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||||
<name>Mina Kamel</name>
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||||
</author>
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||||
<author>
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||||
<name>Janosch Nikolic</name>
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||||
</author>
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||||
<author>
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||||
<name>Markus Achtelik</name>
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||||
</author>
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||||
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||||
<maintainer email="hsu@osrfoundation.org">john hsu</maintainer>
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||||
|
||||
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||||
<description>
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||||
A copy of the 3DR Iris model taken from
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https://github.com/PX4/sitl_gazebo/tree/master/models
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Local modifications include adding standoffs,
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inertia and collision updates..
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||||
</description>
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||||
</model>
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||||
Executable
+579
@@ -0,0 +1,579 @@
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||||
<?xml version='1.0'?>
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||||
<sdf version='1.6'>
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||||
<model name='iris'>
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||||
<pose>0 0 0.194923 0 0 0</pose>
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||||
<link name='base_link'>
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||||
<velocity_decay>
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||||
<linear>0.0</linear>
|
||||
<angular>0.0</angular>
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||||
</velocity_decay>
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||||
<inertial>
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||||
<pose>0 0 0 0 0 0</pose>
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||||
<mass>1.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.008</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.015</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.017</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_collision_fl'>
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||||
<pose>0.13 0.22 -0.08 0 0 0</pose>
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||||
<geometry>
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||||
<box>
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||||
<size>0.05 0.05 0.18</size>
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||||
</box>
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||||
</geometry>
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||||
<surface>
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||||
<contact>
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||||
<ode>
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||||
<max_vel>100.0</max_vel>
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||||
<min_depth>0.001</min_depth>
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||||
</ode>
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||||
</contact>
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||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
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||||
<mu2>1.0</mu2>
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||||
</ode>
|
||||
</friction>
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||||
</surface>
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||||
</collision>
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||||
<collision name='base_link_collision_fr'>
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||||
<pose>0.13 -0.22 -0.08 0 0 0</pose>
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||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.18</size>
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||||
</box>
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||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>100.0</max_vel>
|
||||
<min_depth>0.001</min_depth>
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||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>1.0</mu2>
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||||
</ode>
|
||||
</friction>
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||||
</surface>
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||||
</collision>
|
||||
<collision name='base_link_collision_br'>
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||||
<pose>-0.13 -0.22 -0.08 0 0 0</pose>
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||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.18</size>
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||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>100.0</max_vel>
|
||||
<min_depth>0.001</min_depth>
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||||
</ode>
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||||
</contact>
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||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
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||||
<mu2>1.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name='base_link_collision_bl'>
|
||||
<pose>-0.13 0.22 -0.08 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.18</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>100.0</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>1.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
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||||
</collision>
|
||||
<visual name='base_link_visual'>
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||||
<geometry>
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||||
<mesh>
|
||||
<uri>model://iris_base/meshes/iris.dae</uri>
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||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual name='front_left_leg_visual'>
|
||||
<pose>0.123 0.22 -0.11 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.005</radius>
|
||||
<length>0.17</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='front_right_leg_visual'>
|
||||
<pose>0.123 -0.22 -0.11 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.005</radius>
|
||||
<length>0.17</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='rear_left_leg_visual'>
|
||||
<pose>-0.140 0.21 -0.11 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.005</radius>
|
||||
<length>0.17</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='rear_right_leg_visual'>
|
||||
<pose>-0.140 -0.21 -0.11 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.005</radius>
|
||||
<length>0.17</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='iris/ground_truth/odometry_sensorgt_link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
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||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.15</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0002</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0002</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name='iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
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||||
<child>iris/ground_truth/odometry_sensorgt_link</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.0</damping>
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||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<link name='iris/imu_link'>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.15</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.00002</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00002</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<pose>0 0 0 3.141593 0 0</pose>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>1000.0</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<joint name='iris/imu_joint' type='revolute'>
|
||||
<child>iris/imu_link</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.0</damping>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<!--
|
||||
<link name='iris/imugt_link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1e-02</mass>
|
||||
<inertia>
|
||||
<ixx>0.0002</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0002</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0002</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name='iris/imugt_joint' type='revolute'>
|
||||
<child>iris/imugt_link</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
-->
|
||||
<link name='rotor_0'>
|
||||
<pose>0.13 -0.22 0.023 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.025</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-06</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_0_collision'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_0_visual'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>__default__</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_0_joint' type='revolute'>
|
||||
<child>rotor_0</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.004</damping>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<link name='rotor_1'>
|
||||
<pose>-0.13 0.2 0.023 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.025</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-06</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_1_collision'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_1_visual'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>__default__</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_1_joint' type='revolute'>
|
||||
<child>rotor_1</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.004</damping>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<link name='rotor_2'>
|
||||
<pose>0.13 0.22 0.023 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.025</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-06</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_2_collision'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_2_visual'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>__default__</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_2_joint' type='revolute'>
|
||||
<child>rotor_2</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.004</damping>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<link name='rotor_3'>
|
||||
<pose>-0.13 -0.2 0.023 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.025</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-06</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_3_collision'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_3_visual'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>__default__</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_3_joint' type='revolute'>
|
||||
<child>rotor_3</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.004</damping>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user