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DroneControl/iq_sim/models/iris_base/model.sdf

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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='iris'>
<pose>0 0 0.194923 0 0 0</pose>
<link name='base_link'>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<inertial>
<pose>0 0 0 0 0 0</pose>
<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'>
<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>
</collision>
<collision name='base_link_collision_fr'>
<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>
</collision>
<collision name='base_link_collision_br'>
<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>
</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>
</collision>
<visual name='base_link_visual'>
<geometry>
<mesh>
<uri>model://iris_base/meshes/iris.dae</uri>
</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>
<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'>
<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>
</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>
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