mirror of
https://github.com/okalachev/flix.git
synced 2025-07-27 09:39:33 +00:00
96 lines
2.7 KiB
XML
96 lines
2.7 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.5">
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<model name="flix">
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<link name="body">
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<inertial>
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<mass>0.065</mass>
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<inertia>
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<ixx>3.55E-5</ixx>
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<iyy>4.23E-5</iyy>
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<izz>7.47E-5</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.095 0.095 0.0276</size>
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</box>
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</geometry>
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</collision>
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<visual name="body">
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<geometry>
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<mesh><uri>model://flix/flix.stl</uri></mesh>
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</geometry>
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<material>
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<ambient>0.5 0.5 0.6 1</ambient>
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<diffuse>0.5 0.5 0.6 1</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<visual name="prop0"><!-- rear left -->
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<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
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<pose>-0.04243 0.04243 0.0142 0 0 0</pose>
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<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
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</visual>
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<visual name="prop1"><!-- rear right -->
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<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
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<pose>-0.04243 -0.04243 0.0142 0 0 0</pose>
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<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
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</visual>
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<visual name="prop2"><!-- front right -->
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<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
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<pose>0.04243 -0.04243 0.0142 0 0 0</pose>
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<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
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</visual>
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<visual name="prop3"><!-- front left -->
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<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
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<pose>0.04243 0.04243 0.0142 0 0 0</pose>
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<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
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</visual>
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<sensor name="imu" type="imu">
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<always_on>1</always_on>
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<visualize>1</visualize>
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<update_rate>1000</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<stddev>0.00174533</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<stddev>0.00174533</stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<stddev>0.0784</stddev><!-- 8 mg -->
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<stddev>0.0784</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<stddev>0.0784</stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</link>
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<plugin name="flix" filename="libflix.so"/>
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</model>
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</sdf>
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