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Address review comments
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- Explicitly state that the sdf file is genretaed
- Remove -0
- Remove redundant channels
- Fix model configs
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@Jaeyoung-Lim
Jaeyoung-Lim committed Sep 29, 2020
1 parent 107565e commit 8aa5294
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Showing 2 changed files with 31 additions and 30 deletions.
59 changes: 30 additions & 29 deletions models/iris/iris.sdf.jinja
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
<!-- DO NOT EDIT: Generated from iris.sdf.jinja -->
<sdf version='1.7'>
<model name='iris'>
<link name='base_link'>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.029125</ixx>
Expand All @@ -14,7 +15,7 @@
</inertia>
</inertial>
<collision name='base_link_inertia_collision'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
Expand All @@ -33,7 +34,7 @@
</surface>
</collision>
<visual name='base_link_inertia_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -51,7 +52,7 @@
<velocity_decay/>
</link>
<joint name='/imu_joint' type='revolute'>
<pose relative_to='base_link'>0 0 0 0 -0 0</pose>
<pose relative_to='base_link'>0 0 0 0 0 0</pose>
<parent>base_link</parent>
<child>/imu_link</child>
<axis>
Expand All @@ -69,9 +70,9 @@
</axis>
</joint>
<link name='/imu_link'>
<pose relative_to='/imu_joint'>0 0 0 0 -0 0</pose>
<pose relative_to='/imu_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
Expand All @@ -84,7 +85,7 @@
</inertial>
</link>
<joint name='rotor_0_joint' type='revolute'>
<pose relative_to='base_link'>0.13 -0.22 0.023 0 -0 0</pose>
<pose relative_to='base_link'>0.13 -0.22 0.023 0 0 0</pose>
<parent>base_link</parent>
<child>rotor_0</child>
<axis>
Expand All @@ -100,9 +101,9 @@
</axis>
</joint>
<link name='rotor_0'>
<pose relative_to='rotor_0_joint'>0 0 0 0 -0 0</pose>
<pose relative_to='rotor_0_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
Expand All @@ -114,7 +115,7 @@
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
Expand All @@ -131,7 +132,7 @@
</surface>
</collision>
<visual name='rotor_0_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -149,7 +150,7 @@
<velocity_decay/>
</link>
<joint name='rotor_1_joint' type='revolute'>
<pose relative_to='base_link'>-0.13 0.2 0.023 0 -0 0</pose>
<pose relative_to='base_link'>-0.13 0.2 0.023 0 0 0</pose>
<parent>base_link</parent>
<child>rotor_1</child>
<axis>
Expand All @@ -165,9 +166,9 @@
</axis>
</joint>
<link name='rotor_1'>
<pose relative_to='rotor_1_joint'>0 0 0 0 -0 0</pose>
<pose relative_to='rotor_1_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
Expand All @@ -179,7 +180,7 @@
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
Expand All @@ -196,7 +197,7 @@
</surface>
</collision>
<visual name='rotor_1_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -214,7 +215,7 @@
<velocity_decay/>
</link>
<joint name='rotor_2_joint' type='revolute'>
<pose relative_to='base_link'>0.13 0.22 0.023 0 -0 0</pose>
<pose relative_to='base_link'>0.13 0.22 0.023 0 0 0</pose>
<parent>base_link</parent>
<child>rotor_2</child>
<axis>
Expand All @@ -230,9 +231,9 @@
</axis>
</joint>
<link name='rotor_2'>
<pose relative_to='rotor_2_joint'>0 0 0 0 -0 0</pose>
<pose relative_to='rotor_2_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
Expand All @@ -244,7 +245,7 @@
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
Expand All @@ -261,7 +262,7 @@
</surface>
</collision>
<visual name='rotor_2_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -279,7 +280,7 @@
<velocity_decay/>
</link>
<joint name='rotor_3_joint' type='revolute'>
<pose relative_to='base_link'>-0.13 -0.2 0.023 0 -0 0</pose>
<pose relative_to='base_link'>-0.13 -0.2 0.023 0 0 0</pose>
<parent>base_link</parent>
<child>rotor_3</child>
<axis>
Expand All @@ -295,9 +296,9 @@
</axis>
</joint>
<link name='rotor_3'>
<pose relative_to='rotor_3_joint'>0 0 0 0 -0 0</pose>
<pose relative_to='rotor_3_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
Expand All @@ -309,7 +310,7 @@
</inertia>
</inertial>
<collision name='rotor_3_collision'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
Expand All @@ -326,7 +327,7 @@
</surface>
</collision>
<visual name='rotor_3_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -418,9 +419,9 @@
</plugin>
<model name='gps0'>
<link name='link'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>2.1733e-06</ixx>
Expand All @@ -446,7 +447,7 @@
</material>
</visual>
<sensor name='gps' type='gps'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
<robotNamespace/>
<gpsNoise>1</gpsNoise>
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2 changes: 1 addition & 1 deletion models/iris/model.config
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<model>
<name>3DR Iris</name>
<version>1.0</version>
<sdf version='1.4'>iris.sdf</sdf>
<sdf version='1.4'>iris-gen.sdf</sdf>

<author>
<name>Lorenz Meier and Thomas Gubler</name>
Expand Down

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