mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-17 06:51:05 +00:00
63 lines
2.1 KiB
XML
63 lines
2.1 KiB
XML
<?xml version="1.0" ?>
|
|
|
|
<!-- adapted from Daniel Mellinger, Nathan Michael, Vijay Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors" -->
|
|
|
|
<robot xmlns="http://drake.mit.edu"
|
|
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
|
xsi:schemaLocation="http://drake.mit.edu ../../../../pods/drake/doc/drakeURDF.xsd" name="quadrotor">
|
|
<link name="base_link">
|
|
<inertial>
|
|
<mass value="0.5"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="0.0023" ixy="0.0" ixz="0.0" iyy="0.0023" iyz="0.0" izz="0.004"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="quadrotor_base.obj" scale=".1 .1 .1"/>
|
|
</geometry>
|
|
</visual>
|
|
<!-- note: the original hector quadrotor urdf had a (simplified, but still complex) collision mesh, too -->
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder radius=".3" length=".1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<frame link="base_link" name="body" rpy="0 0 0" xyz="0 0 0" />
|
|
<force_element name="prop1">
|
|
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
|
|
<parent link="base_link"/>
|
|
<origin xyz=".1750 0 0"/>
|
|
<axis xyz="0 0 1"/>
|
|
</propellor>
|
|
</force_element>
|
|
|
|
<force_element name="prop2">
|
|
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
|
|
<parent link="base_link"/>
|
|
<origin xyz="0 .1750 0 "/>
|
|
<axis xyz="0 0 1"/>
|
|
</propellor>
|
|
</force_element>
|
|
|
|
<force_element name="prop3">
|
|
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
|
|
<parent link="base_link"/>
|
|
<origin xyz="-.1750 0 0"/>
|
|
<axis xyz="0 0 1"/>
|
|
</propellor>
|
|
</force_element>
|
|
|
|
<force_element name="prop4">
|
|
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
|
|
<parent link="base_link"/>
|
|
<origin xyz="0 -.1750 0"/>
|
|
<axis xyz="0 0 1"/>
|
|
</propellor>
|
|
</force_element>
|
|
|
|
</robot>
|
|
|