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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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parrot_bebop_2/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Parrot Bebop 2</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Olivier Crave</name>
<email>olivier.crave@parrot.com</email>
</author>
<description>
A model of the Parrot Bebop 2 drone.
</description>
</model>

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<?xml version="1.0"?>
<sdf version="1.5">
<model name="parrot_bebop_2">
<static>false</static>
<pose>0 0 0.062656 0 0 0</pose>
<!-- Main link -->
<link name="body">
<inertial>
<mass>0.503</mass> <!-- kg -->
<inertia> <!-- kg.m^2 -->
<ixx>1.805e-3</ixx>
<ixy>-8.619e-7</ixy>
<iyy>1.764e-3</iyy>
<ixz>1.555e-5</ixz>
<iyz>3.595e-7</iyz>
<izz>3.328e-3</izz>
</inertia>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name="collision">
<pose>-0.00424 0.00014 -0.00595 0 0 0</pose>
<geometry>
<box><size>0.316618 0.330564 0.089582</size></box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce>
<restitution_coefficient>0.828</restitution_coefficient>
<threshold>0</threshold>
</bounce>
<friction>
<ode>
<mu>10</mu>
<mu2>5</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<kp>10000.0</kp>
<kd>10.0</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="hull">
<geometry>
<mesh>
<uri>model://parrot_bebop_2/meshes/hull.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="propeller_rr">
<pose>-0.09035 -0.11423 -0.00501 0 0 0</pose>
<geometry>
<mesh>
<uri>model://parrot_bebop_2/meshes/propeller_rr.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="propeller_rl">
<pose>-0.09035 0.11452 -0.00501 0 0 0</pose>
<geometry>
<mesh>
<uri>model://parrot_bebop_2/meshes/propeller_rl.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="propeller_fr">
<pose>0.08456 -0.11435 -0.00501 0 0 0</pose>
<geometry>
<mesh>
<uri>model://parrot_bebop_2/meshes/propeller_fr.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="propeller_fl">
<pose>0.08456 0.11463 -0.00501 0 0 0</pose>
<geometry>
<mesh>
<uri>model://parrot_bebop_2/meshes/propeller_fl.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>