diff --git a/models/livox_mid360/meshes/livox_resized.stl b/models/livox_mid360/meshes/livox_resized.stl new file mode 100644 index 00000000..1c075670 Binary files /dev/null and b/models/livox_mid360/meshes/livox_resized.stl differ diff --git a/models/livox_mid360/model.config b/models/livox_mid360/model.config new file mode 100644 index 00000000..3dcf6051 --- /dev/null +++ b/models/livox_mid360/model.config @@ -0,0 +1,15 @@ + + + + Livox Mid360 + 1.0 + model.sdf + + + Ani + + + + Livox Mid360 sensor using the RGL Gazebo plugin. + + diff --git a/models/livox_mid360/model.sdf b/models/livox_mid360/model.sdf new file mode 100644 index 00000000..b46dec1d --- /dev/null +++ b/models/livox_mid360/model.sdf @@ -0,0 +1,47 @@ + + + + + 0 0 0 0 0 0 + + 0 0 0.0435 0 0 0 + 0.265 + + 0.00034437749999999994 + 0 + 0 + 0.00034437749999999994 + 0 + 0.00022199999999999998 + + + + + + model://livox_mid360/meshes/livox_resized.stl + + + + + + + model://livox_mid360/meshes/livox_resized.stl + + + + + + + 1 + 100 + + 10 + false + rgl_lidar + RGLLidar + Livox Mid360 + + + + + diff --git a/models/mono_cam2/model.config b/models/mono_cam2/model.config new file mode 100644 index 00000000..8dc965f0 --- /dev/null +++ b/models/mono_cam2/model.config @@ -0,0 +1,11 @@ + + + mono_cam + 1.0 + model.sdf + + Markus Achtelik + markus@auterion.com + + Very simple monocular camera model + diff --git a/models/mono_cam2/model.sdf b/models/mono_cam2/model.sdf new file mode 100644 index 00000000..a9e68f14 --- /dev/null +++ b/models/mono_cam2/model.sdf @@ -0,0 +1,71 @@ + + + + 0 0 0 0 0 0 + false + false + + + 0.03 0.03 0.03 0 0 0 + 0.050 + + 0.00004 + 0 + 0 + 0.00004 + 0 + 0.00004 + + + + + + 0.02 0.04 0.04 + + + + + 0.015 0 0 0 1.5707 0 + + + 0.008 + 0.01 + + + + + 0.014 0 0 0 0 0 + + + 0.0079 + + + + .4 .4 .5 .95 + .4 .4 .5 .95 + 1 1 1 1 + 0 0 0 1 + + + + 0 0 0 0 0 0 + + 1.74 + + 1280 + 960 + + + 0.1 + 3000 + + + 1 + 30 + true + + true + + + + diff --git a/models/sprind/meshes/ccw_prop.stl b/models/sprind/meshes/ccw_prop.stl new file mode 100644 index 00000000..072ab757 Binary files /dev/null and b/models/sprind/meshes/ccw_prop.stl differ diff --git a/models/sprind/meshes/cw_prop.stl b/models/sprind/meshes/cw_prop.stl new file mode 100644 index 00000000..27cc9f5b Binary files /dev/null and b/models/sprind/meshes/cw_prop.stl differ diff --git a/models/sprind/meshes/sprind_compressed.stl b/models/sprind/meshes/sprind_compressed.stl new file mode 100644 index 00000000..89b17c26 Binary files /dev/null and b/models/sprind/meshes/sprind_compressed.stl differ diff --git a/models/sprind/model.config b/models/sprind/model.config new file mode 100644 index 00000000..3e8209d3 --- /dev/null +++ b/models/sprind/model.config @@ -0,0 +1,15 @@ + + + sprind + 1.0 + model.sdf + + + Ani + aniruddha.mallick@horyzn.org + + + + This is the model of SprinD. + + diff --git a/models/sprind/model.sdf b/models/sprind/model.sdf new file mode 100644 index 00000000..37b1be30 --- /dev/null +++ b/models/sprind/model.sdf @@ -0,0 +1,646 @@ + + + + 0 0 1 0 0 0 + false + false + + + 19.74 + 0 0 0.04 0 0 0 + + + 3.8 + 0 + 0 + 2.67 + 0 + 5.77 + + + true + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/sprind_compressed.stl + + + + + + + + 1 1 1 + model://sprind/meshes/sprind_compressed.stl + + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 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 + + + + + + + 1 + 30 + + + + true + false + + 0.008465 -0.84437 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_0 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + true + false + + 0.008616 0.85736 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_1 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + true + false + + 0.74545 0.43186 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_2 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + true + false + + -0.72837 -0.41887 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_3 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + true + false + + 0.745715 -0.419 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/ccw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_4 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + true + false + + -0.7279 0.43261 0.016 0 0 0 + + 0.093 + + 0.0036525 + 0.0000099 + 0.0036591 + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://sprind/meshes/cw_prop.stl + + + + + + 100000 + 1.0 + 0.1 + 0.001 + + + + + + + + + + base_link + rotor_5 + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + rotor_0_joint + rotor_0 + cw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 0 + 0.0255 + 1e-06 + 10 + velocity + + + rotor_1_joint + rotor_1 + ccw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 1 + 0.0255 + 1e-06 + 10 + velocity + + + rotor_2_joint + rotor_2 + cw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 2 + 0.0255 + 1e-06 + 10 + velocity + + + rotor_3_joint + rotor_3 + ccw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 3 + 0.0255 + 1e-06 + 10 + velocity + + + rotor_4_joint + rotor_4 + ccw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 4 + 0.0255 + 1e-06 + 10 + velocity + + + rotor_5_joint + rotor_5 + cw + 0.0125 + 0.025 + 3116 + 2.99e-04 + 0.1061 + command/motor_speed + 5 + 0.0255 + 1e-06 + 10 + velocity + + + map + base_link + odom + 3 + + + + model://livox_mid360 + + .2 0 .03 3.141592654 0 0 + + + base_link + link + 0 0 0 0 0 0 + + + diff --git a/models/sprind/thumbnails/sprind.jpeg b/models/sprind/thumbnails/sprind.jpeg new file mode 100644 index 00000000..9d8b1a02 Binary files /dev/null and b/models/sprind/thumbnails/sprind.jpeg differ diff --git a/models/x500/model.sdf b/models/x500/model.sdf index 0199eed9..ed5ff7b6 100644 --- a/models/x500/model.sdf +++ b/models/x500/model.sdf @@ -68,5 +68,12 @@ 10 velocity + + world + base_link + odom + 3 + diff --git a/models/x500_double_cam_down/model.config b/models/x500_double_cam_down/model.config new file mode 100644 index 00000000..0fa4231e --- /dev/null +++ b/models/x500_double_cam_down/model.config @@ -0,0 +1,12 @@ + + + x500_double_cam_down + 1.0 + model.sdf + + Daniel Mesham + daniel@auterion.com + + An X500 with two downward-facing monocular cameras. + + diff --git a/models/x500_double_cam_down/model.sdf b/models/x500_double_cam_down/model.sdf new file mode 100644 index 00000000..f589db1a --- /dev/null +++ b/models/x500_double_cam_down/model.sdf @@ -0,0 +1,40 @@ + + + + false + + + + x500 + + + + + model://mono_cam2 + mono_cam_right + 0.1 0 0.10 0 1.5707 0 + + + + + model://mono_cam2 + mono_cam_left + -0.1 0 0.10 0 1.5707 0 + + + + + base_link + mono_cam_right::mono_cam/base_link + 0.1 0 0 0 1.5707 0 + + + + + base_link + mono_cam_left::mono_cam/base_link + -0.1 0 0 0 1.5707 0 + + + + diff --git a/models/x500_lidar_down/model.sdf b/models/x500_lidar_down/model.sdf index 228139d8..3f6ea0d5 100644 --- a/models/x500_lidar_down/model.sdf +++ b/models/x500_lidar_down/model.sdf @@ -37,10 +37,10 @@ - 1 - 1 + 1024 + 0.1 0 - 0 + 120 1 diff --git a/models/x500_lidar_stereo/model.config b/models/x500_lidar_stereo/model.config new file mode 100644 index 00000000..1e19f66f --- /dev/null +++ b/models/x500_lidar_stereo/model.config @@ -0,0 +1,11 @@ + + + x500_lidar_stereo + 1.0 + model.sdf + + Vicente Serna + vicente.serna@horyzn.org + + x500_lidar_stereo + diff --git a/models/x500_lidar_stereo/model.sdf b/models/x500_lidar_stereo/model.sdf new file mode 100644 index 00000000..45aa4293 --- /dev/null +++ b/models/x500_lidar_stereo/model.sdf @@ -0,0 +1,55 @@ + + + + + x500 + + + + model://livox_mid360 + livox_left + 0 0.2 0.15 -0.789 0 0 + + + 1 + 100 + + 10 + false + rgl_lidar/left + RGLLidar_left + Livox Mid360 + + + + + base_link + livox_left::link + + + + + + model://livox_mid360 + livox_right + 0 -0.2 0.15 0.789 0 0 + + + 1 + 100 + + 10 + false + rgl_lidar/right + RGLLidar_right + Livox Mid360 + + + + + base_link + livox_right::link + + + +