spiri-sdk/guiTools/ardupilot_gazebo/models/gimbal_small_1d/model.sdf

154 lines
4.1 KiB
XML

<?xml version='1.0'?>
<sdf version='1.9'>
<model name='gimbal_small_1d'>
<pose>0 0 0.18 0 0 0</pose>
<link name='base_link'>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
</inertial>
<visual name='base_main_viz'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_1d/meshes/base_main.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0.1 0.1 0.1</ambient>
<diffuse>0.1 0.1 0.1</diffuse>
<specular>0.01 0.01 0.01 1.0</specular>
</material>
</visual>
<visual name='base_arm_viz'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_1d/meshes/base_arm.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0.1 0.1 0.1</ambient>
<diffuse>0.1 0.1 0.1</diffuse>
<specular>0.01 0.01 0.01 1.0</specular>
</material>
</visual>
<collision name='base_col'>
<pose>0.01 0.075 -0.025 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.05 0.15</size>
</box>
</geometry>
</collision>
</link>
<link name='tilt_link'>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00001</iyy>
<iyz>0</iyz>
<izz>0.00001</izz>
</inertia>
</inertial>
<visual name='tilt_viz'>
<pose>0 0 -0.005 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_1d/meshes/tilt.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0.4 0.4 0.4</ambient>
<diffuse>0.4 0.4 0.4</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
</material>
</visual>
<collision name='tilt_col'>
<pose>0 0 -0.005 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_1d/meshes/tilt.dae</uri>
</mesh>
</geometry>
</collision>
<visual name='camera_viz'>
<pose>0 0 0.02 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.025</radius>
<length>0.050</length>
</cylinder>
</geometry>
<material>
<ambient>0.4 0.4 0.4</ambient>
<diffuse>0.4 0.4 0.4</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
</material>
</visual>
<collision name='camera_col'>
<pose>0 0 0.02 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.025</radius>
<length>0.050</length>
</cylinder>
</geometry>
</collision>
<sensor name="camera" type="camera">
<pose degrees="true">0 0 0 -90 -90 0</pose>
<camera>
<horizontal_fov>2.0</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>15000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>1</visualize>
<plugin name="GstCameraPlugin"
filename="GstCameraPlugin">
<udp_host>127.0.0.1</udp_host>
<udp_port>5600</udp_port>
<use_basic_pipeline>true</use_basic_pipeline>
<use_cuda>false</use_cuda>
</plugin>
</sensor>
</link>
<joint name='tilt_joint' type='revolute'>
<parent>base_link</parent>
<child>tilt_link</child>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0 0 0.02 0 0 0</pose>
</joint>
</model>
</sdf>