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Extract gimbal model (#70)
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* gimbal: extract gimbal model for reusability

* Increase pitch joint limit
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@StefanoColli
StefanoColli authored Dec 16, 2024
1 parent 019f63e commit f48a17a
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Showing 7 changed files with 375 additions and 372 deletions.
0 ...gimbal/meshes/cgo3_camera_remeshed_v1.stl → ...gimbal/meshes/cgo3_camera_remeshed_v1.stl
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0 ...eshes/cgo3_horizontal_arm_remeshed_v1.stl → ...eshes/cgo3_horizontal_arm_remeshed_v1.stl
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0 ..._gimbal/meshes/cgo3_mount_remeshed_v1.stl → .../gimbal/meshes/cgo3_mount_remeshed_v1.stl
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0 .../meshes/cgo3_vertical_arm_remeshed_v1.stl → .../meshes/cgo3_vertical_arm_remeshed_v1.stl
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11 changes: 11 additions & 0 deletions models/gimbal/model.config
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<?xml version="1.0"?>
<model>
<name>gimbal</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Stefano Colli</name>
<email>[email protected]</email>
</author>
<description>Gimbal with camera model</description>
</model>
357 changes: 357 additions & 0 deletions models/gimbal/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='gimbal'>
<self_collide>false</self_collide>
<static>false</static>

<!-- Gimbal mount point -->
<link name="cgo3_mount_link">
<inertial>
<pose>-0.02552 0 -0.08136 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<visual name="cgo3_mount_visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal/meshes/cgo3_mount_remeshed_v1.stl</uri>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
</link>

<!-- Gimbal vertical arm -->
<link name="cgo3_vertical_arm_link">
<inertial>
<pose>0 0 -0.1283 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<visual name='cgo3_vertical_arm_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal/meshes/cgo3_vertical_arm_remeshed_v1.stl</uri>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
</link>

<!-- Yaw joint -->
<joint name='cgo3_vertical_arm_joint' type='revolute'>
<child>cgo3_vertical_arm_link</child>
<parent>cgo3_mount_link</parent>
<pose>-0.02552 0 0 0 0 0</pose>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>100</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.1</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0.1</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>

<!-- Gimbal horizontal arm -->
<link name="cgo3_horizontal_arm_link">
<inertial>
<pose>-0.0213 0 -0.162 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<visual name='cgo3_horizontal_arm_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal/meshes/cgo3_horizontal_arm_remeshed_v1.stl</uri>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
</link>

<!-- Roll joint -->
<joint name='cgo3_horizontal_arm_joint' type='revolute'>
<child>cgo3_horizontal_arm_link</child>
<parent>cgo3_vertical_arm_link</parent>
<pose>0 0 -0.1619 0 0 0</pose>
<axis>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.785398</lower>
<upper>0.785398</upper>
<effort>100</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.1</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0.1</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>

<!-- Camera -->
<link name="camera_link">
<inertial>
<pose>-0.0412 0 -0.162 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='cgo3_camera_collision'>
<pose>-0.0412 0 -0.162 0 0 0</pose>
<geometry>
<sphere>
<radius>0.035</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1e+8</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='cgo3_camera_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal/meshes/cgo3_camera_remeshed_v1.stl</uri>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>

<sensor name="camera_imu" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
<pose>-0.0412 0 -0.162 0 0 0</pose>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00018665</stddev>
<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00018665</stddev>
<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00018665</stddev>
<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00186</stddev>
<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00186</stddev>
<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.00186</stddev>
<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>

<sensor name="camera" type="camera">
<pose>-0.074 0 -0.162 0 0 3.14</pose>
<camera>
<horizontal_fov>2.0</horizontal_fov>
<image>
<format>R8G8B8</format>
<format>R8G8B8</format>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.05</near>
<far>15000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>
</link>

<!-- Pitch joint -->
<joint name='cgo3_camera_joint' type='revolute'>
<child>camera_link</child>
<parent>cgo3_horizontal_arm_link</parent>
<pose>-0.0412 0 -0.162 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-2.35619</lower>
<upper>0.7854</upper>
<effort>100</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.1</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0.1</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>

<!-- Plugins -->

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>cgo3_horizontal_arm_joint</joint_name>
<sub_topic>command/gimbal_roll</sub_topic>
<p_gain>0.8</p_gain>
<i_gain>0.035</i_gain>
<d_gain>0.02</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>0.3</cmd_max>
<cmd_min>-0.3</cmd_min>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>cgo3_camera_joint</joint_name>
<sub_topic>command/gimbal_pitch</sub_topic>
<p_gain>0.8</p_gain>
<i_gain>0.01245</i_gain>
<d_gain>0.015</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>0.3</cmd_max>
<cmd_min>-0.3</cmd_min>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>cgo3_vertical_arm_joint</joint_name>
<sub_topic>command/gimbal_yaw</sub_topic>
<p_gain>0.3</p_gain>
<i_gain>0.01245</i_gain>
<d_gain>0.015</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>0.3</cmd_max>
<cmd_min>-0.3</cmd_min>
</plugin>

</model>
</sdf>
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