add: space cobot model #118
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* add: space cobot * feat(Space Cobot): Changes to space cobot proppelers location in space * Fix(SpaceCobot): Changes in location of the propellers in the model * chore(Space Cobot): Update Mesh to have the correct orientation and shape * feat: propeller positions and plugins correct. Misses angles * chore(SpaceCobot): Update mesh, position and angles for the new space cobot Robot with 5' proppelers --------- Co-authored-by: Pedro Roque <[email protected]>
feat: space cobot model
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Thanks for the contribution!
- Could you simplify the mesh such that it is < 1MB?
- Could you update the PR description on what this model is about, why this is useful for PX4, and what you can test with it?
- is this a real vehicle? If so, please provide information of it as well.
- The model is missing a model.config file. Please add information including the license of the model.
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@andre-rebelo-teixeira please also update the motor model to use the plugin for motor in PX4. Check the gz_atmos model for baseline |
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| </joint> | ||
| <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> |
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Are these default gz motor models? If not, please change it to the motor model in gz.
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@Jaeyoung-Lim This is indeed a real robot. But what type of information do you need related to it? The rest of the point are a work in progres :) |
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@andre-rebelo-teixeira There is no information in your PR description other than a link. I am requesting an explanation on the context and why this adds value to this repo |
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Yes. I will update it tomorrow morning with general information regarding the robot. I was just wondering if there was any specific information that might be necessary to include in the PR. |
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@Jaeyoung-Lim Related to the mesh, should we add the eletronics to the mesh and then simplify? Or keep it without eletronics? |
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@andre-rebelo-teixeira you can host everything on fuel (check the Atmos platform). @Jaeyoung-Lim this robot is an astronaut helper free flyer that in model is similar to the omnicopter but for moving in uG. It collected interest from some people so I asked Andre, who's working on this back in Lisbon, to PR it as they are also using px4space. Then we can have all models here and not spread. Thoughts? |
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@andre-rebelo-teixeira updates? |
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@Pedro-Roque Not really. I am now in the process of writting my dissertation, so time is quite limited. Hopefully next week i will be able to tackle the pendind issues |
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@andre-rebelo-teixeira Any updates? |
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Added Space Cobot model.
The Space Cobot is a fully holonomic robot designed to operate in micro-gravity environments, using reversible electric motors instead of thrusters to maintain a smaller body profile. The robot was developed at IST by Pedro Roque under the supervision of Rodrigo Ventura. The model presented here corresponds to the second real-world version of the platform.
The robot designed was published in 10.1109/IROS.2016.7759645
Ongoing research with this robot includes trajectory optimization, parameter estimation, and teleoperation studies using the PX4 simulator.