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