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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version='1.0'?>
<sdf version="1.6">
<model name="iris_demo">
<include>
<uri>model://iris_with_standoffs</uri>
</include>
<include>
<uri>model://gimbal_small_2d</uri>
<pose>0 -0.01 0.070 1.57 0 1.57</pose>
</include>
<joint name="iris_gimbal_mount" type="revolute">
<parent>iris::base_link</parent>
<child>gimbal_small_2d::base_link</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<!-- visual markers for debugging
<link name="rotor_0_blade_1_cp">
<gravity>0</gravity>
<pose>0.13 -0.22 0.216 0 -0 0</pose>
<visual name='rotor_0_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_tip'>
<pose>0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp'>
<pose>0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp_forward'>
<pose>0.084 0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp_upward'>
<pose>0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_0_blade_2_cp">
<gravity>0</gravity>
<pose>0.13 -0.22 0.216 0 -0 0</pose>
<visual name='rotor_0_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_tip'>
<pose>-0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp'>
<pose>-0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp_forward'>
<pose>-0.084 -0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_0_visual_cp_upward'>
<pose>-0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_1_blade_1_cp">
<gravity>0</gravity>
<pose>-0.13 0.2 0.216 0 -0 0</pose>
<visual name='rotor_1_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_tip'>
<pose>0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp'>
<pose>0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp_forward'>
<pose>0.084 0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp_upward'>
<pose>0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_1_blade_2_cp">
<gravity>0</gravity>
<pose>-0.13 0.2 0.216 0 -0 0</pose>
<visual name='rotor_1_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_tip'>
<pose>-0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp'>
<pose>-0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp_forward'>
<pose>-0.084 -0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_1_visual_cp_upward'>
<pose>-0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_2_blade_1_cp">
<gravity>0</gravity>
<pose>0.13 0.22 0.216 0 -0 0</pose>
<visual name='rotor_2_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_tip'>
<pose>0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp'>
<pose>0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp_forward'>
<pose>0.084 -0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp_upward'>
<pose>0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_2_blade_2_cp">
<gravity>0</gravity>
<pose>0.13 0.22 0.216 0 -0 0</pose>
<visual name='rotor_2_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_tip'>
<pose>-0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp'>
<pose>-0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp_forward'>
<pose>-0.084 0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_2_visual_cp_upward'>
<pose>-0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_3_blade_1_cp">
<gravity>0</gravity>
<pose>-0.13 -0.2 0.216 0 -0 0</pose>
<visual name='rotor_3_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_tip'>
<pose>0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp'>
<pose>0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp_forward'>
<pose>0.084 -0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp_upward'>
<pose>0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="rotor_3_blade_2_cp">
<gravity>0</gravity>
<pose>-0.13 -0.2 0.216 0 -0 0</pose>
<visual name='rotor_3_visual_root'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_tip'>
<pose>-0.12 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp'>
<pose>-0.084 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp_forward'>
<pose>-0.084 0.02 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
<visual name='rotor_3_visual_cp_upward'>
<pose>-0.084 0 0.02 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.003</radius>
</sphere>
</geometry>
</visual>
</link>
-->
<!-- plugins -->
<plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_0</link_name>
</plugin>
<plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_0</link_name>
</plugin>
<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_1</link_name>
</plugin>
<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_1</link_name>
</plugin>
<plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_2</link_name>
</plugin>
<plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_2</link_name>
</plugin>
<plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_3</link_name>
</plugin>
<plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<alpha_stall>1.4</alpha_stall>
<cla>0.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.2</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_3</link_name>
</plugin>
<plugin name="arducopter_plugin" filename="libArduCopterPlugin.so">
<imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<rotor id="0">
<vel_p_gain>0.01</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
<vel_i_min>0</vel_i_min>
<vel_cmd_max>2.0</vel_cmd_max>
<vel_cmd_min>-2.0</vel_cmd_min>
<jointName>iris::rotor_0_joint</jointName>
<turningDirection>ccw</turningDirection>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="1">
<vel_p_gain>0.01</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
<vel_i_min>0</vel_i_min>
<vel_cmd_max>2.0</vel_cmd_max>
<vel_cmd_min>-2.0</vel_cmd_min>
<jointName>iris::rotor_1_joint</jointName>
<turningDirection>ccw</turningDirection>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="2">
<vel_p_gain>0.01</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
<vel_i_min>0</vel_i_min>
<vel_cmd_max>2.0</vel_cmd_max>
<vel_cmd_min>-2.0</vel_cmd_min>
<jointName>iris::rotor_2_joint</jointName>
<turningDirection>cw</turningDirection>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="3">
<vel_p_gain>0.01</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
<vel_i_min>0</vel_i_min>
<vel_cmd_max>2.0</vel_cmd_max>
<vel_cmd_min>-2.0</vel_cmd_min>
<jointName>iris::rotor_3_joint</jointName>
<turningDirection>cw</turningDirection>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
</plugin>
</model>
</sdf>