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Copy pathskydio_x2.urdf
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skydio_x2.urdf
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<?xml version="1.0"?>
<robot name="skydio_x2">
<mujoco>
<compiler balanceinertia="true" discardvisual="false" fusestatic="false"/>
</mujoco>
<link name="world"/>
<joint name="floating_base_joint" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="x2"/>
</joint>
<link name="x2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".06" length=".025"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".06" length=".025"/>
</geometry>
</collision>
</link>
<link name="rotor1">
<inertial>
<mass value="0.25"/>
<inertia ixx="0.00085" ixy="0" ixz="0" iyy="0.00085" iyz="0" izz="0.00169"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".13" length=".005"/>
</geometry>
</visual>
</link>
<link name="rotor2">
<inertial>
<mass value="0.25"/>
<inertia ixx="0.00085" ixy="0" ixz="0" iyy="0.00085" iyz="0" izz="0.00169"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".13" length=".005"/>
</geometry>
</visual>
</link>
<link name="rotor3">
<inertial>
<mass value="0.25"/>
<inertia ixx="0.00085" ixy="0" ixz="0" iyy="0.00085" iyz="0" izz="0.00169"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".13" length=".005"/>
</geometry>
</visual>
</link>
<link name="rotor4">
<inertial>
<mass value="0.25"/>
<inertia ixx="0.00085" ixy="0" ixz="0" iyy="0.00085" iyz="0" izz="0.00169"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".13" length=".005"/>
</geometry>
</visual>
</link>
<link name="center_of_mass_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.325"/>
<inertia ixx="0.00013" ixy="0" ixz="0" iyy="0.00169" iyz="0" izz="0.001768"/>
</inertial>
</link>
<joint name="center_of_mass_joint" type="fixed">
<parent link="x2"/>
<child link="center_of_mass_link"/>
</joint>
<joint name="prop0_joint" type="fixed">
<parent link="x2"/>
<child link="rotor1"/>
<origin rpy="0 0 0" xyz="-0.14 -0.18 0.05"/>
</joint>
<joint name="prop1_joint" type="fixed">
<parent link="x2"/>
<child link="rotor2"/>
<origin rpy="0 0 0" xyz="-0.14 0.18 0.05"/>
</joint>
<joint name="prop2_joint" type="fixed">
<parent link="x2"/>
<child link="rotor3"/>
<origin rpy="0 0 0" xyz="0.14 0.18 0.08"/>
</joint>
<joint name="prop3_joint" type="fixed">
<parent link="x2"/>
<child link="rotor4"/>
<origin rpy="0 0 0" xyz="0.14 -0.18 0.08"/>
</joint>
</robot>