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fixing the links and joints names in typhoon model to reflect the num…
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…bers of the motors in the px4's hex x airframe (#1043)
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@ayhamalharbat
ayhamalharbat authored Jun 12, 2024
1 parent 383a68e commit 708dff5
Showing 1 changed file with 48 additions and 48 deletions.
96 changes: 48 additions & 48 deletions models/typhoon_h480/typhoon_h480.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -694,7 +694,7 @@
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_3'>
<link name='rotor_2'>
<pose>0.211396 0.119762 0.082219 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -708,7 +708,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_3_collision'>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -725,7 +725,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_3_visual'>
<visual name='rotor_2_visual'>
<pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -744,8 +744,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand All @@ -766,7 +766,7 @@
</ode>
</physics>
</joint>
<link name='rotor_0'>
<link name='rotor_5'>
<pose>-0.209396 0.122762 0.082219 0 0 2.09439510239</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -780,7 +780,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<collision name='rotor_5_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -797,7 +797,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_0_visual'>
<visual name='rotor_5_visual'>
<pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -816,8 +816,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<joint name='rotor_5_joint' type='revolute'>
<child>rotor_5</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand All @@ -838,7 +838,7 @@
</ode>
</physics>
</joint>
<link name='rotor_4'>
<link name='rotor_1'>
<pose>-0.00187896 0.242705 0.0822169 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -852,7 +852,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_4_collision'>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -869,7 +869,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_4_visual'>
<visual name='rotor_1_visual'>
<pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -888,8 +888,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_4_joint' type='revolute'>
<child>rotor_4</child>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand All @@ -910,7 +910,7 @@
</ode>
</physics>
</joint>
<link name='rotor_1'>
<link name='rotor_4'>
<pose>0.211396 -0.119762 0.082219 0 0 -2.09439510239</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -924,7 +924,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<collision name='rotor_4_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -941,7 +941,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_1_visual'>
<visual name='rotor_4_visual'>
<pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -960,8 +960,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<joint name='rotor_4_joint' type='revolute'>
<child>rotor_4</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand All @@ -983,7 +983,7 @@
</physics>
</joint>

<link name='rotor_5'>
<link name='rotor_0'>
<pose>-0.00187896 -0.242705 0.0822169 0 0 -2.09439510239</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -997,7 +997,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_5_collision'>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -1014,7 +1014,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_5_visual'>
<visual name='rotor_0_visual'>
<pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -1033,8 +1033,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_5_joint' type='revolute'>
<child>rotor_5</child>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand All @@ -1055,7 +1055,7 @@
</ode>
</physics>
</joint>
<link name='rotor_2'>
<link name='rotor_3'>
<pose>-0.209396 -0.122762 0.082219 0 0 2.09439510239</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
Expand All @@ -1069,7 +1069,7 @@
<izz>0.000274004</izz>
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<collision name='rotor_3_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
Expand All @@ -1086,7 +1086,7 @@
</friction>
</surface>
</collision>
<visual name='rotor_2_visual'>
<visual name='rotor_3_visual'>
<pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
<geometry>
<mesh>
Expand All @@ -1105,8 +1105,8 @@
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
Expand Down Expand Up @@ -1161,10 +1161,10 @@
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<jointName>rotor_5_joint</jointName>
<linkName>rotor_5</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand All @@ -1178,10 +1178,10 @@
<motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<jointName>rotor_4_joint</jointName>
<linkName>rotor_4</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand All @@ -1195,10 +1195,10 @@
<motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand All @@ -1212,10 +1212,10 @@
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand All @@ -1229,10 +1229,10 @@
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_4_joint</jointName>
<linkName>rotor_4</linkName>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand All @@ -1246,10 +1246,10 @@
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<plugin name='right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_5_joint</jointName>
<linkName>rotor_5</linkName>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
Expand Down

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