diff --git a/models/x500_gimbal/meshes/cgo3_camera_remeshed_v1.stl b/models/x500_gimbal/meshes/cgo3_camera_remeshed_v1.stl new file mode 100644 index 0000000..d5f6f58 Binary files /dev/null and b/models/x500_gimbal/meshes/cgo3_camera_remeshed_v1.stl differ diff --git a/models/x500_gimbal/meshes/cgo3_horizontal_arm_remeshed_v1.stl b/models/x500_gimbal/meshes/cgo3_horizontal_arm_remeshed_v1.stl new file mode 100644 index 0000000..fb9e76c Binary files /dev/null and b/models/x500_gimbal/meshes/cgo3_horizontal_arm_remeshed_v1.stl differ diff --git a/models/x500_gimbal/meshes/cgo3_mount_remeshed_v1.stl b/models/x500_gimbal/meshes/cgo3_mount_remeshed_v1.stl new file mode 100644 index 0000000..ed383a7 Binary files /dev/null and b/models/x500_gimbal/meshes/cgo3_mount_remeshed_v1.stl differ diff --git a/models/x500_gimbal/meshes/cgo3_vertical_arm_remeshed_v1.stl b/models/x500_gimbal/meshes/cgo3_vertical_arm_remeshed_v1.stl new file mode 100644 index 0000000..438b87d Binary files /dev/null and b/models/x500_gimbal/meshes/cgo3_vertical_arm_remeshed_v1.stl differ diff --git a/models/x500_gimbal/model.config b/models/x500_gimbal/model.config new file mode 100644 index 0000000..b3b0e0b --- /dev/null +++ b/models/x500_gimbal/model.config @@ -0,0 +1,11 @@ + + + x500_gimbal + 1.0 + model.sdf + + Stefano Colli + stefano@auterion.com + + Model of the X500 with a camera attached on a gimbal. + diff --git a/models/x500_gimbal/model.sdf b/models/x500_gimbal/model.sdf new file mode 100644 index 0000000..14386e1 --- /dev/null +++ b/models/x500_gimbal/model.sdf @@ -0,0 +1,381 @@ + + + + + x500 + + + + + + 0 0 0.18 0 0 0 + 0.1 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + 0.03 0 0.262 0 0 0 + + + 0.001 0.001 0.001 + model://x500_gimbal/meshes/cgo3_mount_remeshed_v1.stl + + + + .175 .175 .175 1.0 + .175 .175 .175 1.0 + .175 .175 .175 1.0 + + + + + cgo3_mount_link + base_link + 0 0 0 0 0 0 + + 0 0 1 + + 0 + 0 + 100 + -1 + + + 1 + + + + + 1 + + + + + + + + 0.05 0 0.13 0 0 0 + 0.1 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + 0.03 0 0.262 0 0 0 + + + 0.001 0.001 0.001 + model://x500_gimbal/meshes/cgo3_vertical_arm_remeshed_v1.stl + + + + .175 .175 .175 1.0 + .175 .175 .175 1.0 + .175 .175 .175 1.0 + + + + + cgo3_vertical_arm_link + cgo3_mount_link + 0.005 0 0 0 0 0 + + 0 0 -1 + + -1e+16 + 1e+16 + 100 + -1 + + + 0.1 + + + + + 1 + + + 0.1 + 0.2 + + + + + + + + + 0 0 0.1 0 0 0 + 0.1 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + 0.03 0 0.262 0 0 0 + + + 0.001 0.001 0.001 + model://x500_gimbal/meshes/cgo3_horizontal_arm_remeshed_v1.stl + + + + .175 .175 .175 1.0 + .175 .175 .175 1.0 + .175 .175 .175 1.0 + + + + + cgo3_horizontal_arm_link + cgo3_vertical_arm_link + 0 0 0.1 0 0 0 + + -1 0 0 + + -0.785398 + 0.785398 + 100 + -1 + + + 0.1 + + + + + 1 + + 0.1 + 0.2 + + + + + + + + 0 0 0 0 0 3.141592 + + + 0.015 0 0.1 0 0 0 + 0.1 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + 0.015 0 0.1 0 0 0 + + + 0.035 + + + + + + 1 + 1 + + + + + 1e+8 + 1 + 0.01 + 0.001 + + + + + + -0.03 0 0.262 0 0 3.141592 + + + 0.001 0.001 0.001 + model://x500_gimbal/meshes/cgo3_camera_remeshed_v1.stl + + + + .175 .175 .175 1.0 + .175 .175 .175 1.0 + .175 .175 .175 1.0 + + + + + 1 + 250 + + + + + 0 + 0.00018665 + 3.8785e-05 + 1000 + + + + + 0 + 0.00018665 + 3.8785e-05 + 1000 + + + + + 0 + 0.00018665 + 3.8785e-05 + 1000 + + + + + + + 0 + 0.00186 + 0.006 + 300 + + + + + 0 + 0.00186 + 0.006 + 300 + + + + + 0 + 0.00186 + 0.006 + 300 + + + + + + + + 0 0 0.1 0 0 0 + + 2.0 + + R8G8B8 + R8G8B8 + 1280 + 720 + + + 0.05 + 15000 + + + 1 + 10 + true + camera + + + + camera_link + cgo3_horizontal_arm_link + 0.01 0 0.1 0 0 0 + + 0 -1 0 + + -1.5708 + 0.7854 + 100 + -1 + + + 0.1 + + + + + 1 + + + 0.1 + 0.2 + + + + + + + + + cgo3_horizontal_arm_joint + command/gimbal_roll + 0.8 + 0.035 + 0.02 + 0 + 0 + 0.3 + -0.3 + + + + cgo3_camera_joint + command/gimbal_pitch + 0.8 + 0.01245 + 0.015 + 0 + 0 + 0.3 + -0.3 + + + + cgo3_vertical_arm_joint + command/gimbal_yaw + 0.3 + 0.01245 + 0.015 + 0 + 0 + 0.3 + -0.3 + + + +