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Merge pull request RobotLocomotion#1078 from blandry/drakecfexample
Simple example of using the crazyflie model with Drake
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot xmlns="http://drake.mit.edu" | ||
| xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" | ||
| name="crazyflie"> | ||
| <material name="Brown"> | ||
| <color rgba="83./255. 53./255. 10./255."/> | ||
| </material> | ||
| <material name="White"> | ||
| <color rgba="1 1 1"/> | ||
| </material> | ||
| <material name="Grey"> | ||
| <color rgba=".3 .3 .3"/> | ||
| </material> | ||
| <material name="Red"> | ||
| <color rgba="1 0 0"/> | ||
| </material> | ||
| <material name="Blue"> | ||
| <color rgba="0 0 1"/> | ||
| </material> | ||
|
|
||
| <link name="base_link"> | ||
| <inertial> | ||
| <mass value="0.03352"/> | ||
| <origin xyz="0 0 0"/> | ||
| <inertia ixx="2.3951e-05" ixy="0" ixz="0" iyy="2.3951e-05" iyz="0" izz="3.23466e-05"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin rpy="1.570796326794897 0 -2.356194490192345" xyz="0 0 -.01"/> | ||
| <geometry> | ||
| <mesh filename="mesh/crazyflie.obj" scale=".001"/> | ||
| </geometry> | ||
| <material name="Blue"/> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <box size="0.017 0.017 0.006"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <force_element name="prop1"> | ||
| <propellor lower_limit="2.8" upper_limit="40.87" scale_factor_thrust="0.005022393588278" scale_factor_moment="-1.858017992629931e-05" visual_geometry="false"> | ||
| <parent link="base_link"/> | ||
| <origin xyz="0.046 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </propellor> | ||
| </force_element> | ||
| <force_element name="prop2"> | ||
| <propellor lower_limit="2.8" upper_limit="40.87" scale_factor_thrust="0.005022393588278" scale_factor_moment="1.858017992629931e-05" visual_geometry="false"> | ||
| <parent link="base_link"/> | ||
| <origin xyz="0 -0.046 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </propellor> | ||
| </force_element> | ||
| <force_element name="prop3"> | ||
| <propellor lower_limit="2.8" upper_limit="40.87" scale_factor_thrust="0.005022393588278" scale_factor_moment="-1.858017992629931e-05" visual_geometry="false"> | ||
| <parent link="base_link"/> | ||
| <origin xyz="-0.046 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </propellor> | ||
| </force_element> | ||
| <force_element name="prop4"> | ||
| <propellor lower_limit="2.8" upper_limit="40.87" scale_factor_thrust="0.005022393588278" scale_factor_moment="1.858017992629931e-05" visual_geometry="false"> | ||
| <parent link="base_link"/> | ||
| <origin xyz="0 0.046 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </propellor> | ||
| </force_element> | ||
|
|
||
| </robot> |
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