From 019f63e2d50763862b8f8d40cce77371b3260c52 Mon Sep 17 00:00:00 2001 From: Perre Date: Mon, 2 Dec 2024 15:32:21 +0100 Subject: [PATCH] SIM: GZ: Add quadtailsitter (#65) * Adding quadtailsitter to gz-sim * Tuned aerodynamics coefficients by increased drag coefficients and larger surface area of the link --------- Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com> --- models/airspeed/model.config | 15 + models/airspeed/model.sdf | 39 ++ models/quadtailsitter/meshes/body.dae | 56 ++ .../quadtailsitter/meshes/iris_prop_ccw.dae | 160 ++++++ models/quadtailsitter/meshes/iris_prop_cw.dae | 160 ++++++ models/quadtailsitter/model.config | 16 + models/quadtailsitter/model.sdf | 508 ++++++++++++++++++ worlds/default.sdf | 1 + 8 files changed, 955 insertions(+) create mode 100644 models/airspeed/model.config create mode 100644 models/airspeed/model.sdf create mode 100644 models/quadtailsitter/meshes/body.dae create mode 100644 models/quadtailsitter/meshes/iris_prop_ccw.dae create mode 100644 models/quadtailsitter/meshes/iris_prop_cw.dae create mode 100644 models/quadtailsitter/model.config create mode 100644 models/quadtailsitter/model.sdf diff --git a/models/airspeed/model.config b/models/airspeed/model.config new file mode 100644 index 0000000..0b6e565 --- /dev/null +++ b/models/airspeed/model.config @@ -0,0 +1,15 @@ + + + airspeed + 1.0 + model.sdf + + + Pernilla Wikström + pernilla@auterion.com + + + + Airspeed sensor model + + diff --git a/models/airspeed/model.sdf b/models/airspeed/model.sdf new file mode 100644 index 0000000..dfce77d --- /dev/null +++ b/models/airspeed/model.sdf @@ -0,0 +1,39 @@ + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.015 + + 1e-05 + 0 + 0 + 1e-05 + 0 + 1e-05 + + + + 0 0 0 0 1.57 0 + + + 0.004 + 0.08 + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + 0 0 0 0 0 0 + 5.0 + 1 + false + + + + diff --git a/models/quadtailsitter/meshes/body.dae b/models/quadtailsitter/meshes/body.dae new file mode 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1168 2164 1221 2164 1245 2164 1228 2165 1162 2165 1233 2165 1245 2166 1221 2166 1222 2166 1183 2167 1239 2167 1181 2167 1239 2168 1236 2168 1181 2168 1181 2169 1236 2169 1237 2169 1237 2170 1238 2170 1182 2170 1182 2171 1238 2171 1174 2171 1174 2172 1235 2172 1173 2172 1173 2173 1235 2173 1243 2173 1235 2174 1234 2174 1243 2174 1243 2175 1234 2175 1163 2175 1234 2176 1244 2176 1163 2176 1166 2177 1228 2177 1229 2177 1228 2178 1224 2178 1229 2178 1161 2179 1246 2179 1168 2179 1248 2180 1254 2180 1247 2180 939 2181 1252 2181 1247 2181 1251 2182 1248 2182 973 2182 973 2183 1248 2183 1107 2183 962 2184 1251 2184 961 2184 1251 2185 966 2185 961 2185 966 2186 964 2186 961 2186 973 2187 971 2187 1250 2187 973 2188 976 2188 975 2188 966 2189 1251 2189 973 2189 968 2190 966 2190 1250 2190 966 2191 973 2191 1250 2191 976 2192 973 2192 1109 2192 1249 2193 940 2193 918 2193 1249 2194 918 2194 1251 2194 924 2195 1249 2195 982 2195 1249 2196 1251 2196 982 2196 982 2197 1251 2197 983 2197 1251 2198 962 2198 983 2198 920 2199 1252 2199 933 2199 1252 2200 935 2200 933 2200 1252 2201 937 2201 935 2201 1248 2202 1251 2202 1254 2202 939 2203 1247 2203 1254 2203 1254 2204 1251 2204 918 2204 939 2205 1254 2205 919 2205 1253 2206 1252 2206 939 2206 1252 2207 1253 2207 937 2207 1261 2208 1260 2208 1277 2208 1277 2209 1278 2209 1261 2209 1261 2210 1278 2210 1289 2210 1278 2211 1271 2211 1289 2211 1275 2212 1257 2212 1262 2212 1257 2213 1263 2213 1262 2213 1262 2214 1263 2214 1264 2214 1263 2215 1265 2215 1264 2215 1255 2216 1267 2216 1266 2216 1266 2217 1267 2217 1268 2217 1267 2218 1256 2218 1268 2218 1269 2219 1286 2219 1270 2219 1286 2220 1285 2220 1270 2220 1285 2221 1271 2221 1270 2221 1260 2222 1272 2222 1277 2222 1272 2223 1281 2223 1277 2223 1277 2224 1281 2224 1273 2224 1273 2225 1280 2225 1259 2225 1279 2226 1274 2226 1268 2226 1256 2227 1279 2227 1268 2227 1265 2228 1276 2228 1258 2228 1258 2229 1276 2229 1259 2229 1259 2230 1277 2230 1273 2230 1257 2231 1276 2231 1263 2231 1263 2232 1276 2232 1265 2232 1273 2233 1281 2233 1280 2233 1288 2234 1283 2234 1282 2234 1284 2235 1289 2235 1271 2235 1271 2236 1285 2236 1284 2236 1286 2237 1269 2237 1287 2237 1289 2238 1284 2238 1288 2238 1260 2239 1282 2239 1272 2239 1283 2240 1272 2240 1282 2240 1303 2241 1292 2241 1302 2241 1312 2242 1317 2242 1303 2242 1293 2243 1311 2243 1310 2243 1294 2244 1311 2244 1293 2244 1291 2245 1295 2245 1296 2245 1295 2246 1290 2246 1296 2246 1298 2247 1299 2247 1297 2247 1297 2248 1299 2248 1301 2248 1301 2249 1299 2249 1300 2249 1299 2250 1308 2250 1300 2250 1291 2251 1306 2251 1295 2251 1306 2252 1304 2252 1295 2252 1300 2253 1308 2253 1305 2253 1306 2254 1307 2254 1304 2254 1302 2255 1292 2255 1309 2255 1315 2256 1293 2256 1310 2256 1312 2257 1314 2257 1316 2257 1316 2258 1314 2258 1313 2258 1314 2259 1310 2259 1313 2259 1315 2260 1310 2260 1314 2260 1312 2261 1316 2261 1317 2261 1292 2262 1303 2262 1317 2262 1321 2263 1318 2263 1319 2263 1319 2264 1318 2264 1329 2264 1324 2265 1322 2265 1320 2265 1320 2266 1322 2266 1318 2266 1318 2267 1322 2267 1329 2267 1320 2268 1323 2268 1324 2268 1323 2269 1325 2269 1324 2269 1325 2270 1326 2270 1324 2270 1324 2271 1326 2271 1322 2271 1327 2272 1323 2272 1320 2272 1320 2273 1333 2273 1328 2273 1328 2274 1327 2274 1320 2274 1318 2275 1332 2275 1320 2275 1332 2276 1333 2276 1320 2276 1330 2277 1329 2277 1331 2277 1329 2278 1322 2278 1331 2278 1326 2279 1331 2279 1322 2279 1338 2280 1327 2280 1334 2280 1327 2281 1328 2281 1334 2281 1323 2282 1336 2282 1340 2282 1323 2283 1337 2283 1339 2283 1340 2284 1336 2284 1335 2284 1339 2285 1336 2285 1323 2285 1338 2286 1340 2286 1339 2286 1340 2287 1335 2287 1339 2287 1338 2288 1337 2288 1327 2288 1327 2289 1337 2289 1323 2289 1325 2290 1323 2290 1340 2290 1351 2291 1345 2291 1348 2291 1341 2292 1343 2292 1352 2292 1341 2293 1342 2293 1343 2293 1342 2294 1344 2294 1343 2294 1353 2295 1343 2295 1344 2295 1348 2296 1345 2296 1347 2296 1345 2297 1346 2297 1347 2297 1348 2298 1349 2298 1351 2298 1351 2299 1349 2299 1350 2299 1350 2300 1349 2300 1352 2300 1352 2301 1349 2301 1341 2301 1359 2302 1356 2302 1355 2302 1355 2303 1357 2303 1354 2303 2219 2304 1355 2304 1356 2304 1358 2305 1354 2305 1357 2305 1354 2306 1358 2306 1344 2306 1344 2307 1358 2307 1353 2307 2219 2308 1357 2308 1355 2308 1365 2309 1362 2309 1360 2309 1365 2310 1364 2310 1363 2310 1363 2311 1362 2311 1365 2311 1365 2312 1360 2312 1361 2312 1366 2313 1367 2313 1368 2313 1361 2314 1360 2314 1367 2314 1361 2315 1367 2315 1366 2315 1366 2316 1368 2316 1369 2316 1370 2317 1369 2317 1368 2317 1372 2318 1371 2318 1370 2318 1371 2319 1369 2319 1370 2319 1372 2320 1359 2320 1371 2320 1372 2321 1356 2321 1359 2321 1374 2322 1375 2322 1376 2322 1376 2323 1373 2323 1374 2323 1374 2324 1373 2324 1377 2324 1380 2325 1379 2325 1467 2325 1467 2326 1379 2326 1378 2326 1404 2327 1386 2327 1405 2327 1384 2328 1383 2328 1460 2328 1395 2329 1387 2329 1390 2329 1387 2330 1395 2330 1454 2330 1454 2331 1460 2331 1383 2331 1454 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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85 113 86 113 40 114 86 114 41 114 41 115 86 115 87 115 41 116 87 116 35 116 35 117 87 117 88 117 35 118 88 118 37 118 37 119 88 119 89 119 37 120 89 120 42 120 42 121 89 121 90 121 42 122 90 122 43 122 43 123 90 123 91 123 43 124 91 124 44 124 44 125 91 125 92 125 44 126 92 126 21 126 21 127 92 127 93 127 21 128 93 128 22 128 22 129 93 129 94 129 22 130 94 130 18 130 18 131 94 131 95 131 18 132 95 132 19 132 19 133 95 133 96 133 19 134 96 134 14 134 14 135 96 135 97 135 14 136 97 136 31 136 31 137 97 137 98 137 31 138 98 138 32 138 32 139 98 139 99 139 32 140 99 140 33 140 33 141 99 141 100 141 33 142 100 142 27 142 27 143 100 143 101 143 27 144 101 144 29 144 29 145 101 145 102 145 29 146 102 146 30 146 30 147 102 147 103 147 30 148 103 148 13 148 13 149 103 149 104 149 13 150 104 150 23 150 23 151 104 151 105 151 23 152 105 152 24 152 24 153 105 153 106 153 24 154 106 154 25 154 25 155 106 155 107 155 25 156 107 156 9 156 9 157 107 157 108 157 9 158 108 158 10 158 10 159 108 159 109 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+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/quadtailsitter/model.config b/models/quadtailsitter/model.config new file mode 100644 index 0000000..4f9e1cf --- /dev/null +++ b/models/quadtailsitter/model.config @@ -0,0 +1,16 @@ + + + quadtailsitter + 1.0 + model.sdf + + + Pernilla Wikström + pernilla@auterion.com + + + + This is a model of a quad tailsitter, modelling the Swan K1. + Model provided by Holybro + + diff --git a/models/quadtailsitter/model.sdf b/models/quadtailsitter/model.sdf new file mode 100644 index 0000000..2f64991 --- /dev/null +++ b/models/quadtailsitter/model.sdf @@ -0,0 +1,508 @@ + + + + + 0 0 0.4 0 0 0 + + 0 0 0.05 0 0 0 + 1.6 + + + 0.1133333333 + 0 + 0 + 0.03020833333 + 0 + 0.08354166667 + + + + 0 0 -0.1 0 0 0 + + + 0.3 0.5 0.2 + + + + + + 10 + 0.01 + + + + + + + + + -0.005 0 0 0 0 1.57 + + + 0.001 0.001 0.001 + model://quadtailsitter/meshes/body.dae + + + + 0.175 0.175 0.175 1.0 + 0.175 0.175 0.175 1.0 + + + 1 + + 0 + + + 1 + 250 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 1 + 30 + + + + + model://airspeed + 0 0 0.7 0 -1.57 0 + + + base_link + airspeed_link + -0 0 0 0 0 0 + + + + 0.145 -0.23 0.46 0.17 -0.17 0 + + 0 0 0 0 0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 0.000166704 + 0 + 0.000167604 + + + + 0 0 0 0 0 0 + + + 0.005 + 0.1 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://quadtailsitter/meshes/iris_prop_ccw.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + 1 + + 0 + + + rotor_0 + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + -0.145 0.23 0.46 -0.17 0.17 0 + + 0 0 0 0 0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 0.000166704 + 0 + 0.000167604 + + + + 0 0 0 0 0 0 + + + 0.005 + 0.1 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://quadtailsitter/meshes/iris_prop_ccw.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + 1 + + 0 + + + rotor_1 + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + 0.145 0.23 0.46 -0.17 -0.17 0 + + 0 0 0 0 0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 0.000166704 + 0 + 0.000167604 + + + + 0 0 0 0 0 0 + + + 0.005 + 0.1 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://quadtailsitter/meshes/iris_prop_cw.dae + + + + 0.175 0.175 0.175 1.0 + 0.175 0.175 0.175 1.0 + + + 1 + + 0 + + + rotor_2 + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + -0.145 -0.23 0.46 0.17 0.17 0 + + 0 0 0 0 0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 0.000166704 + 0 + 0.000167604 + + + + 0 0 0 0 0 0 + + + 0.005 + 0.1 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://quadtailsitter/meshes/iris_prop_cw.dae + + + + 0.175 0.175 0.175 1.0 + 0.175 0.175 0.175 1.0 + + + 1 + + 0 + + + rotor_3 + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + 0.0 + 0.15188 + 8.5 + 0.97 + 5.015 + 1.5 + 0.15 + 0.075 + -0.463966 + -0.258244 + -0.039250 + 0.100826 + 0.0 + 0.065861 + 0.0 + -0.487407 + 0.0 + -0.040416 + 0.055166 + 0.0 + 7.971792 + 0.0 + -12.140140 + 0.0 + 0.0 + 0.230299 + 0.0 + 0.078165 + 0.0 + -0.089947 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.12 0.0 0.0 + 0.4 + 0.22 + 1.2041 + 0 0 1 + -1 0 0 + base_link + 0 + + + rotor_0_joint + rotor_0 + ccw + 0.0125 + 0.025 + 1200 + 8.54858e-06 + 0.06 + command/motor_speed + 0 + 8.06428e-05 + 1e-06 + 5 + velocity + + + rotor_1_joint + rotor_1 + ccw + 0.0125 + 0.025 + 1200 + 8.54858e-06 + 0.06 + command/motor_speed + 1 + 8.06428e-05 + 1e-06 + 5 + velocity + + + rotor_2_joint + rotor_2 + cw + 0.0125 + 0.025 + 1200 + 8.54858e-06 + 0.06 + command/motor_speed + 2 + 8.06428e-05 + 1e-06 + 5 + velocity + + + rotor_3_joint + rotor_3 + cw + 0.0125 + 0.025 + 1200 + 8.54858e-06 + 0.06 + command/motor_speed + 3 + 8.06428e-05 + 1e-06 + 5 + velocity + + + 0 + + diff --git a/worlds/default.sdf b/worlds/default.sdf index 7484151..9627bed 100644 --- a/worlds/default.sdf +++ b/worlds/default.sdf @@ -12,6 +12,7 @@ +