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<end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#legs"/> + </scene> +</COLLADA> diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf index c3181d8388..430a153737 100644 --- a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf +++ b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf @@ -1,6 +1,7 @@ <?xml version="1.0"?> <sdf version="1.9"> <model name="foxtech"> + <pose>0 0 0.5 0 0 0</pose> <link name="base_link"> <visual name="visual_base_link"> <geometry> @@ -33,6 +34,30 @@ <update_rate>250</update_rate> </sensor> </link> + <link name="legs_link"> + <visual name="visual_legs_link"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/legs.dae</uri> + </mesh> + </geometry> + <material> + <ambient>1 1 1 1.0</ambient> + <diffuse>1 1 1 1.0</diffuse> + </material> + </visual> + <collision name="collision_legs_link"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/legs.dae</uri> + </mesh> + </geometry> + </collision> + </link> + <joint name='legs_joint' type='fixed'> + <child>legs_link</child> + <parent>base_link</parent> + </joint> <link name="airspeed_link"> <pose>0 0 0 0 0 0</pose> <inertial> @@ -109,16 +134,13 @@ <parent>base_link</parent> <child>aileron_left_link</child> <axis> - <xyz>1 0 0</xyz> + <xyz>-1 0 0</xyz> <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> + <lower>-0.53</lower> + <upper>0.53</upper> </limit> <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> + <damping>1.000</damping> </dynamics> </axis> </joint> @@ -155,16 +177,13 @@ <parent>base_link</parent> <child>aileron_right_link</child> <axis> - <xyz>1 0 0</xyz> + <xyz>-1 0 0</xyz> <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> + <lower>-0.53</lower> + <upper>0.53</upper> </limit> <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> + <damping>1.000</damping> </dynamics> </axis> </joint> @@ -203,14 +222,11 @@ <axis> <xyz>1 0 0</xyz> <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> + <lower>-0.53</lower> + <upper>0.53</upper> </limit> <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> + <damping>1.000</damping> </dynamics> </axis> </joint> @@ -249,14 +265,11 @@ <axis> <xyz>1 0 0</xyz> <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> + <lower>-0.53</lower> + <upper>0.53</upper> </limit> <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> + <damping>1.000</damping> </dynamics> </axis> </joint> @@ -276,7 +289,7 @@ </mesh> </geometry> </collision> - <inertial> + <inertial>p <pose>3.0720176589210631e-09 -0.014597633583934367 -0.00023793299837082617 -0.00096325055376496349 0 0</pose> <mass>0.08686124232617691</mass> <inertia> @@ -293,16 +306,13 @@ <parent>base_link</parent> <child>rudder_link</child> <axis> - <xyz>1 0 0</xyz> + <xyz>0 0 1</xyz> <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> + <lower>-0.53</lower> + <upper>0.53</upper> </limit> <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> + <damping>1.000</damping> </dynamics> </axis> </joint> @@ -310,7 +320,7 @@ <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>0.427 0.403 0.083 0 0 0</pose> + <pose>0.427 -0.403 0.083 0 0 0</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -365,7 +375,7 @@ <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>-0.427 -0.403 0.083 0 0 0</pose> + <pose>-0.427 0.403 0.083 0 0 0</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -420,7 +430,7 @@ <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>-0.427 0.403 0.083 0 0 0</pose> + <pose>0.427 0.403 0.083 0 0 0</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -475,7 +485,7 @@ <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>0.427 -0.403 0.083 0 0 0</pose> + <pose>-0.427 -0.403 0.083 0 0 0</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -527,7 +537,7 @@ </axis> </joint> <link name='rotor_puller'> - <pose>0.0 0.379 0.0 -1.57 0 0</pose> + <pose>0.0 0.379 0.0 -1.57 1.57 0</pose> <inertial> <pose>0 0 0 0 0 0</pose> <mass>0.005</mass> @@ -568,6 +578,7 @@ <self_collide>0</self_collide> </link> <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> <child>rotor_puller</child> <parent>base_link</parent> <axis> @@ -616,7 +627,6 @@ <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> <motorType>velocity</motorType> </plugin> - <!-- <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'> --> <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> @@ -635,7 +645,6 @@ <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> <motorType>velocity</motorType> </plugin> - <!-- <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'> --> <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> diff --git a/Tools/simulation/gz/models/standard_vtol/model.sdf b/Tools/simulation/gz/models/standard_vtol/model.sdf index 86c5298334..33cf587def 100644 --- a/Tools/simulation/gz/models/standard_vtol/model.sdf +++ b/Tools/simulation/gz/models/standard_vtol/model.sdf @@ -486,6 +486,7 @@ <self_collide>0</self_collide> </link> <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> <child>rotor_puller</child> <parent>base_link</parent> <axis>