388 lines
11 KiB
Plaintext
388 lines
11 KiB
Plaintext
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<sdf version="1.6">
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<model name="trisphere_cycle">
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<pose>0.0 0 0 0 0 0</pose>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<radius>0.03</radius>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="fork">
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<pose>0.04144088383952833 0 0.38502293110800634 0 -0.17453292519943295 0</pose>
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<inertial>
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<mass>3</mass>
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<ixx>0.15820312499999997</ixx>
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<iyy>0.058359374999999984</iyy>
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<izz>0.10265624999999999</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<collision name="handlebars_collision">
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<radius>0.0375</radius>
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<visual name="handlebars_visual">
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<pose>0 0 0.397747564417433 1.5707963267948966 0 0</pose>
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<geometry>
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<radius>0.0375</radius>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="headtube_collision">
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<pose>0 0 0.2386485386504598 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.31819805153394637</length>
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<radius>0.0375</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="headtube_visual">
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<pose>0 0 0.2386485386504598 0 0 0</pose>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<collision name="spindle_collision">
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<visual name="spindle_visual">
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<geometry>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="fork_left_collision">
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<geometry>
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<cylinder>
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<length>0.45</length>
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<visual name="fork_left_visual">
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<pose>0 0.15909902576697318 -0.07954951288348658 0.7853981633974483 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.0375</radius>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<geometry>
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<cylinder>
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<visual name="fork_right_visual">
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.0375</radius>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="wheel_front">
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<pose>0.08288176767905665 0 0.15 0 0 0</pose>
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<inertial>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.0045</ixx>
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<iyy>0.0045</iyy>
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<izz>0.0045</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.15</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000000.0</kp>
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<kd>1</kd>
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<min_depth>0.0005</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.15</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name="wheel_front_steer" type="revolute">
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<parent>frame</parent>
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<child>fork</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-0.9599310885968813</lower>
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<upper>0.9599310885968813</upper>
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</limit>
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</axis>
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</joint>
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<joint name="wheel_front_spin" type="revolute">
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<parent>fork</parent>
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<child>wheel_front</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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<link name="wheel_rear_left">
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||
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<pose>-0.8171182323209433 0.5196152422706631 0.15 0 0 0</pose>
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<inertial>
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||
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<mass>0.5</mass>
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<inertia>
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||
|
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<ixx>0.0045</ixx>
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<iyy>0.0045</iyy>
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<izz>0.0045</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.15</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000000.0</kp>
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<kd>1</kd>
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<min_depth>0.0005</min_depth>
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</ode>
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</contact>
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||
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</surface>
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||
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.15</radius>
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</sphere>
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||
|
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</geometry>
|
||
|
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<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Black</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="wheel_rear_left_spin" type="revolute">
|
||
|
|
<parent>frame</parent>
|
||
|
|
<child>wheel_rear_left</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name="wheel_rear_right">
|
||
|
|
<pose>-0.8171182323209433 -0.5196152422706631 0.15 0 0 0</pose>
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||
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|
<inertial>
|
||
|
|
<mass>0.5</mass>
|
||
|
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<inertia>
|
||
|
|
<ixx>0.0045</ixx>
|
||
|
|
<iyy>0.0045</iyy>
|
||
|
|
<izz>0.0045</izz>
|
||
|
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<ixy>0</ixy>
|
||
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<ixz>0</ixz>
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||
|
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<iyz>0</iyz>
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||
|
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</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
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<sphere>
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||
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<radius>0.15</radius>
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||
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</sphere>
|
||
|
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</geometry>
|
||
|
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<surface>
|
||
|
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<contact>
|
||
|
|
<ode>
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||
|
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<kp>100000000.0</kp>
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||
|
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<kd>1</kd>
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||
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<min_depth>0.0005</min_depth>
|
||
|
|
</ode>
|
||
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</contact>
|
||
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</surface>
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||
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</collision>
|
||
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<visual name="visual">
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<geometry>
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<sphere>
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|
|
<radius>0.15</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Black</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="wheel_rear_right_spin" type="revolute">
|
||
|
|
<parent>frame</parent>
|
||
|
|
<child>wheel_rear_right</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
</model>
|
||
|
|
</sdf>
|