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76 lines
3.3 KiB
76 lines
3.3 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500'>
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<include merge='true'>
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<uri>model://x500_base</uri>
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</include>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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</model>
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</sdf>
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