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amacatiamacati
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Add fused models
1 parent 61733c4 commit b3f9f5a

12 files changed

Lines changed: 160 additions & 64 deletions

‎drone_models/data/assets/cf21B/cf21B_fused.stl‎

4.09 MB
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‎drone_models/data/assets/cf2x/cf2xL_fused.stl‎

1.08 MB
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‎drone_models/data/assets/cf2x/cf2xP_fused.stl‎

1.3 MB
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‎drone_models/data/assets/cf2x/cf2xT_fused.stl‎

1.94 MB
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‎drone_models/data/cf21B_500.xml‎

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</body>
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</worldbody>
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<!-- Actuators
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We do not limit the actuation range of the motors here, because we would need to synchronize the
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control limits from our constants module with the ones in the MuJoCo model. Instead, we rely on
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the controller simulation for proper clipping.
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-->
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<actuator>
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<motor gear="0 0 1 0 0 0" site="motor0" name="motor0_force" />
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<motor gear="0 0 1 0 0 0" site="motor1" name="motor1_force" />
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<motor gear="0 0 1 0 0 0" site="motor2" name="motor2_force" />
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<motor gear="0 0 1 0 0 0" site="motor3" name="motor3_force" />
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<motor gear="0 0 0 0 0 1" site="motor0" name="motor0_torque" />
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<motor gear="0 0 0 0 0 1" site="motor1" name="motor1_torque" />
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<motor gear="0 0 0 0 0 1" site="motor2" name="motor2_torque" />
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<motor gear="0 0 0 0 0 1" site="motor3" name="motor3_torque" />
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</actuator>
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</mujoco>

‎drone_models/data/cf21B_500_fused.xml‎

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<mujoco model="cf21B">
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<compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
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<asset>
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<mesh name="cf21B_fused" file="cf21B/cf21B_fused.stl" scale="1e-3 1e-3 1e-3"/>
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</asset>
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<default>
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<default class="cf21B">
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0" />
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</default>
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<default class="collision">
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<geom group="3" condim="1" />
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</default>
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<site group="5" />
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</default>
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</default>
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<worldbody>
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<body name="drone" pos="0 0 0.05" childclass="cf21B">
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<site name="CoM" />
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<inertial pos="0.0 0.0 0.0" mass="0.04338" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5" />
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<geom mesh="cf21B_fused" material="" class="visual" />
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<geom name="col_sphere" type="sphere" size="0.086" pos="0 0 0.02" class="collision" contype="1" conaffinity="1" />
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<geom name="col_box" type="box" size="0.07 0.07 0.02" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
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<site name="motor0" pos="0.03536 -0.03536 0.0" />
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<site name="motor1" pos="-0.03536 -0.03536 0.0" />
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<site name="motor2" pos="-0.03536 0.03536 0.0" />
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<site name="motor3" pos="0.03536 0.03536 0.0" />
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<camera name="track_cam" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
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<camera name="fpv_cam" pos="0.03 0 0" euler="0 -90 -90" fovy="70" resolution="640 480" />
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</body>
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</worldbody>
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</mujoco>

‎drone_models/data/cf2x_L250.xml‎

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</body>
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</worldbody>
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85-
<!-- Actuators
86-
We do not limit the actuation range of the motors here, because we would need to synchronize the
87-
control limits from our constants module with the ones in the MuJoCo model. Instead, we rely on
88-
the controller simulation for proper clipping.
89-
-->
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<actuator>
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<motor gear="0 0 1 0 0 0" site="motor0" name="motor0_force" />
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<motor gear="0 0 1 0 0 0" site="motor1" name="motor1_force" />
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<motor gear="0 0 1 0 0 0" site="motor2" name="motor2_force" />
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<motor gear="0 0 1 0 0 0" site="motor3" name="motor3_force" />
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<motor gear="0 0 0 0 0 1" site="motor0" name="motor0_torque" />
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<motor gear="0 0 0 0 0 1" site="motor1" name="motor1_torque" />
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<motor gear="0 0 0 0 0 1" site="motor2" name="motor2_torque" />
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<motor gear="0 0 0 0 0 1" site="motor3" name="motor3_torque" />
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</actuator>
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</mujoco>

‎drone_models/data/cf2x_L250_fused.xml‎

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<mujoco model="cf2x">
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<compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
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<asset>
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<mesh name="cf2x_fused" file="cf2x/cf2xL_fused.stl" scale="0.001 0.001 0.001"/>
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</asset>
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<default>
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<default class="cf2x">
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0" />
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</default>
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<default class="collision">
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<geom group="3" condim="1" />
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</default>
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<site group="5" />
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</default>
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</default>
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<worldbody>
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<body name="drone" pos="0 0 0.05" childclass="cf2x">
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<site name="CoM" />
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<inertial pos="0.0 0.0 0.0" mass="0.027" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5" />
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<geom mesh="cf2x_fused" material="" class="visual" />
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<geom name="col_sphere" type="sphere" size="0.07" pos="0 0 0.005" class="collision" contype="1" conaffinity="1" />
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<geom name="col_box" type="box" size="0.055 0.055 0.02" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
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<site name="motor0" pos="0.0325 -0.0325 0.0" />
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<site name="motor1" pos="-0.0325 -0.0325 0.0" />
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<site name="motor2" pos="-0.0325 0.0325 0.0" />
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<site name="motor3" pos="0.0325 0.0325 0.0" />
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<camera name="track_cam" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
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<camera name="fpv_cam" pos="0.03 0 0" euler="0 -90 -90" fovy="70" resolution="640 480" />
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</body>
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</worldbody>
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</mujoco>

‎drone_models/data/cf2x_P250.xml‎

Lines changed: 0 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -82,20 +82,4 @@
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</body>
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</worldbody>
8484

85-
<!-- Actuators
86-
We do not limit the actuation range of the motors here, because we would need to synchronize the
87-
control limits from our constants module with the ones in the MuJoCo model. Instead, we rely on
88-
the controller simulation for proper clipping.
89-
-->
90-
<actuator>
91-
<motor gear="0 0 1 0 0 0" site="motor0" name="motor0_force" />
92-
<motor gear="0 0 1 0 0 0" site="motor1" name="motor1_force" />
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<motor gear="0 0 1 0 0 0" site="motor2" name="motor2_force" />
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<motor gear="0 0 1 0 0 0" site="motor3" name="motor3_force" />
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<motor gear="0 0 0 0 0 1" site="motor0" name="motor0_torque" />
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<motor gear="0 0 0 0 0 1" site="motor1" name="motor1_torque" />
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<motor gear="0 0 0 0 0 1" site="motor2" name="motor2_torque" />
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<motor gear="0 0 0 0 0 1" site="motor3" name="motor3_torque" />
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</actuator>
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</mujoco>

‎drone_models/data/cf2x_P250_fused.xml‎

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<mujoco model="cf2x">
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<compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
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<asset>
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<mesh name="cf2x_fused" file="cf2x/cf2xP_fused.stl" scale="0.001 0.001 0.001"/>
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</asset>
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<default>
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<default class="cf2x">
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0" />
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</default>
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<default class="collision">
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<geom group="3" condim="1" />
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</default>
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<site group="5" />
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</default>
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</default>
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<worldbody>
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<body name="drone" pos="0 0 0.05" childclass="cf2x">
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<site name="CoM" />
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<inertial pos="0.0 0.0 0.0" mass="0.027" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5" />
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<geom mesh="cf2x_fused" material="" class="visual" />
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<geom name="col_sphere" type="sphere" size="0.07" pos="0 0 0.005" class="collision" contype="1" conaffinity="1" />
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<geom name="col_box" type="box" size="0.055 0.055 0.02" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
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<site name="motor0" pos="0.0325 -0.0325 0.0" />
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<site name="motor1" pos="-0.0325 -0.0325 0.0" />
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<site name="motor2" pos="-0.0325 0.0325 0.0" />
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<site name="motor3" pos="0.0325 0.0325 0.0" />
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<camera name="track_cam" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
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<camera name="fpv_cam" pos="0.03 0 0" euler="0 -90 -90" fovy="70" resolution="640 480" />
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</body>
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</worldbody>
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</mujoco>

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