1077 lines
30 KiB
Plaintext
1077 lines
30 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<physics type="ode">
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<gravity>0.0 0.0 -10.0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<sor>0.8</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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</physics>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1000 1000</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1000 1000</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="lift_drag_demo_model">
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<pose>0 0 0 0 0 0</pose>
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<static>false</static>
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<link name="body_1">
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<pose>1.75 0 0.1 0 0 0</pose>
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<inertial>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1.8</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>10.8</iyy>
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<iyz>0.0</iyz>
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<izz>10.8</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>3.6 0.2 0.2</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.1</mu>
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<mu2>0.1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>3.6 0.2 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1.0</ambient>
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<diffuse>.421 0.225 0.0 1.0</diffuse>
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</material>
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||
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</visual>
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<sensor name='imu_sensor' type='imu'>
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<always_on>1</always_on>
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<update_rate>1000</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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||
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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||
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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||
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</link>
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<link name="rod_1">
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<pose>0 0 0.24 0 0 0</pose>
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|
<inertial>
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||
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<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
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||
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|
<inertia>
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||
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<ixx>0.012</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.012</iyy>
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<iyz>0.0</iyz>
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<izz>0.0012</izz>
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||
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</inertia>
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||
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<mass>1.0</mass>
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||
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</inertial>
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||
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<collision name="collision">
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||
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<geometry>
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||
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<box>
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||
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<size>0.02 0.02 0.08</size>
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</box>
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||
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</geometry>
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||
|
|
</collision>
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||
|
|
<visual name="visual">
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||
|
|
<geometry>
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||
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|
<box>
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|
|
<size>0.02 0.02 0.08</size>
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||
|
|
</box>
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||
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|
</geometry>
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|
|
<material>
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||
|
|
<ambient>0.3 0.3 0.3 1.0</ambient>
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||
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|
<diffuse>.421 0.225 0.0 1.0</diffuse>
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||
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</material>
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||
|
|
</visual>
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</link>
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||
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<link name="blade_1">
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||
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<pose>0 0 0.28 0 0 0</pose>
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||
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|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
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||
|
|
<inertia>
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||
|
|
<ixx>0.0000465</ixx>
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||
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|
<ixy>0.0</ixy>
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||
|
|
<ixz>0.0</ixz>
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<iyy>0.0000006</iyy>
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<iyz>0.0</iyz>
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|
<izz>0.0000470</izz>
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||
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|
</inertia>
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|
<mass>0.01</mass>
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||
|
|
</inertial>
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||
|
|
<collision name="collision">
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||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
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|
<geometry>
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|
<box>
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||
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|
<size>0.2 1.0 0.01</size>
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</box>
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</geometry>
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||
|
|
</collision>
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||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
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<geometry>
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||
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|
<box>
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||
|
|
<size>0.2 1.0 0.01</size>
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||
|
|
</box>
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||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
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||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_2">
|
||
|
|
<pose>0 0 0.28 0 0 3.141593</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
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||
|
|
<ixy>0.0</ixy>
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||
|
|
<ixz>0.0</ixz>
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||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
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||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
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|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
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|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.2 0.5 0.2 1.0</ambient>
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||
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|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
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|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
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|
<joint name="rod_1_joint" type="revolute">
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||
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<parent>body_1</parent>
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||
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<child>rod_1</child>
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||
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|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e16</lower>
|
||
|
|
<upper>1e16</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0.0 0.0 -1.0</xyz>
|
||
|
|
<dynamics>
|
||
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|
<damping>0.0001</damping>
|
||
|
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</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_1_joint" type="revolute">
|
||
|
|
<parent>rod_1</parent>
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||
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|
<child>blade_1</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_2_joint" type="revolute">
|
||
|
|
<parent>rod_1</parent>
|
||
|
|
<child>blade_2</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>-1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="rod_2">
|
||
|
|
<pose>3.5 0 0.24 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.012</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.012</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0012</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_3">
|
||
|
|
<pose>3.5 0 0.28 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_4">
|
||
|
|
<pose>3.5 0 0.28 0 0 3.141593</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.2 0.5 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="rod_2_joint" type="revolute">
|
||
|
|
<parent>body_1</parent>
|
||
|
|
<child>rod_2</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e16</lower>
|
||
|
|
<upper>1e16</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0.0 0.0 1.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0001</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_3_joint" type="revolute">
|
||
|
|
<parent>rod_2</parent>
|
||
|
|
<child>blade_3</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_4_joint" type="revolute">
|
||
|
|
<parent>rod_2</parent>
|
||
|
|
<child>blade_4</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<!-- -->
|
||
|
|
<joint name="gear_joint_1" type="gearbox">
|
||
|
|
<parent>rod_1</parent>
|
||
|
|
<child>rod_2</child>
|
||
|
|
<gearbox_ratio>1.0</gearbox_ratio>
|
||
|
|
<gearbox_reference_body>body_1</gearbox_reference_body>
|
||
|
|
<axis>
|
||
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
</axis2>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<plugin name="gazebo_blade_1" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_1</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_2" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_2</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_3" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_3</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_4" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_4</link_name>
|
||
|
|
</plugin>
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<link name="body_2">
|
||
|
|
<pose>1.75 0 0.1 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>10.8</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>1.8</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>10.8</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 3.6 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.1</mu>
|
||
|
|
<mu2>0.1</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 3.6 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="rod_3">
|
||
|
|
<pose>1.75 -1.75 0.24 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.012</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.012</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0012</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_5">
|
||
|
|
<pose>1.75 -1.75 0.28 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_6">
|
||
|
|
<pose>1.75 -1.75 0.28 0 0 3.141593</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.2 0.5 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="rod_3_joint" type="revolute">
|
||
|
|
<parent>body_2</parent>
|
||
|
|
<child>rod_3</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e16</lower>
|
||
|
|
<upper>1e16</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0.0 0.0 1.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0001</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_5_joint" type="revolute">
|
||
|
|
<parent>rod_3</parent>
|
||
|
|
<child>blade_5</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_6_joint" type="revolute">
|
||
|
|
<parent>rod_3</parent>
|
||
|
|
<child>blade_6</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>-1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="rod_4">
|
||
|
|
<pose>1.75 1.75 0.24 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.012</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.012</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0012</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.02 0.02 0.08</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_7">
|
||
|
|
<pose>1.75 1.75 0.28 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="blade_8">
|
||
|
|
<pose>1.75 1.75 0.28 0 0 3.141593</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0.0 0.25 0 0.0 0.0 0.0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0000465</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyy>0.0000006</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.0000470</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.5 0 0.0 0.0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 1.0 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<ambient>0.2 0.5 0.2 1.0</ambient>
|
||
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="body_joint" type="revolute">
|
||
|
|
<parent>body_1</parent>
|
||
|
|
<child>body_2</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>0</lower>
|
||
|
|
<upper>0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0.0 0.0 1.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0001</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="rod_4_joint" type="revolute">
|
||
|
|
<parent>body_2</parent>
|
||
|
|
<child>rod_4</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e16</lower>
|
||
|
|
<upper>1e16</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>0.0 0.0 1.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0001</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_7_joint" type="revolute">
|
||
|
|
<parent>rod_4</parent>
|
||
|
|
<child>blade_7</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="blade_8_joint" type="revolute">
|
||
|
|
<parent>rod_4</parent>
|
||
|
|
<child>blade_8</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<xyz>-1.0 0.0 0.0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.000000</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<limit>
|
||
|
|
<cfm>0.004</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<!-- -->
|
||
|
|
<joint name="gear_joint_2" type="gearbox">
|
||
|
|
<parent>rod_3</parent>
|
||
|
|
<child>rod_4</child>
|
||
|
|
<gearbox_ratio>-1.0</gearbox_ratio>
|
||
|
|
<gearbox_reference_body>body_2</gearbox_reference_body>
|
||
|
|
<axis>
|
||
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
</axis2>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<plugin name="gazebo_blade_5" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_5</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_6" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_6</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_7" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_7</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="gazebo_blade_8" filename="libLiftDragPlugin.so">
|
||
|
|
<a0>0.1</a0>
|
||
|
|
<cla>0.100</cla>
|
||
|
|
<cda>0.01</cda>
|
||
|
|
<cma>0.00</cma>
|
||
|
|
<alpha_stall>0.2</alpha_stall>
|
||
|
|
<cla_stall>-0.2</cla_stall>
|
||
|
|
<cda_stall>1.0</cda_stall>
|
||
|
|
<cma_stall>0.0</cma_stall>
|
||
|
|
<cp>0.0 0.5 0</cp>
|
||
|
|
<area>0.2</area>
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>-1 0 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>lift_drag_demo_model::blade_8</link_name>
|
||
|
|
</plugin>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|