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Iris: add tether and payload example #87

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Iris: add tether and payload example #87

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d189fc9
Tether: initial version of model from https://github.com/RigidWing/si…
srmainwaring Mar 7, 2024
77fcae8
Tether: fix visual materials and pose
srmainwaring Mar 7, 2024
70153c8
Tether: fix model pose
srmainwaring Mar 7, 2024
b60923d
Iris: update base_link collisions
srmainwaring Mar 7, 2024
e9de949
Tether: add model iris_with_tether
srmainwaring Mar 7, 2024
735009c
Tether: correct tether mass and inertia
srmainwaring Mar 7, 2024
fcba7d1
Tether: remove surface elements
srmainwaring Mar 7, 2024
d969a2e
Tether: update joint dynamics - reduce damping
srmainwaring Mar 7, 2024
c31697d
Tether: remove unused plugins
srmainwaring Mar 7, 2024
7f6af01
Tether: update joint dynamics in model iris_with_tether
srmainwaring Mar 7, 2024
00172a3
Tether: add tether payload to model iris_with_tether
srmainwaring Mar 7, 2024
fcf05f9
Tether: correct comment
srmainwaring Mar 7, 2024
9bb689b
Tether: remove jinja template
srmainwaring Mar 7, 2024
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44 changes: 40 additions & 4 deletions models/iris_with_standoffs/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -20,11 +20,10 @@
</inertia>
</inertial>
<collision name='base_collision'>
<pose>0 0 -0.08 0 0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.23</size>
</box>
<mesh>
<uri>model://iris_with_standoffs/meshes/iris.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
Expand All @@ -41,6 +40,43 @@
</friction>
</surface>
</collision>
<collision name='front_left_leg_collision'>
<pose>0.123 0.22 -0.11 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.005</radius>
<length>0.17</length>
</cylinder>
</geometry>
</collision>
<collision name='front_right_leg_collision'>
<pose>0.123 -0.22 -0.11 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.005</radius>
<length>0.17</length>
</cylinder>
</geometry>
</collision>
<collision name='rear_left_leg_collision'>
<pose>-0.140 0.21 -0.11 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.005</radius>
<length>0.17</length>
</cylinder>
</geometry>
</collision>
<collision name='rear_right_leg_collision'>
<pose>-0.140 -0.21 -0.11 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.005</radius>
<length>0.17</length>
</cylinder>
</geometry>
</collision>

<visual name='base_visual'>
<geometry>
<mesh>
Expand Down
13 changes: 13 additions & 0 deletions models/tether/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<?xml version="1.0"?>
<model>
<name>tether</name>
<version>1.0.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Nuno Marques</name>
<email>[email protected]</email>
</author>
<description>
This model approximates a tether cord.
</description>
</model>
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