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quadrotor.urdf
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quadrotor.urdf
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<?xml version="1.0"?>
<!-- Mesh file and approximate numbers are from Abe Bachrach at Skdio. -->
<robot name="quadrotor">
<!--
Axes are standard vehicle coordinates:
+X - Pointing toward the nose (primary camera).
+Y - Towards the left rotors.
+Z - Towards the top of the vehicle..
Origin:
(0, 0, 0) in the center of the main quadrotor body.
-->
<link name="base_link">
<inertial>
<mass value="0.775"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0025" iyz="0.0" izz="0.0035"/>
</inertial>
<visual>
<origin rpy="1.570796 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake/examples/quadrotor/skydio_2_1000_poly.obj" scale=".00254"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".36 .4 .06"/>
</geometry>
</collision>
</link>
</robot>