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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="create">
<link name="base">
<inertial>
<pose>0.001453 -0.000453 0.029787 0 0 0</pose>
<inertia>
<ixx>0.058640</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>0.000014</iyz>
<izz>1.532440</izz>
</inertia>
<mass>2.234000</mass>
</inertial>
<collision name="base_collision">
<pose>0 0 0.047800 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.016495</radius>
<length>0.061163</length>
</cylinder>
</geometry>
</collision>
<visual name="base_visual">
<pose>0 0 0.047800 0 0 0</pose>
<geometry>
<mesh>
<uri>model://create/meshes/create_body.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="front_wheel_collision">
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.018000</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="front_wheel_visual">
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.009000</radius>
</sphere>
</geometry>
</visual>
<collision name="rear_wheel_collision">
<pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.015000</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="rear_wheel_visual">
<pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.007500</radius>
</sphere>
</geometry>
</visual>
<sensor name="left_cliff_sensor" type="ray">
<pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="leftfront_cliff_sensor" type="ray">
<pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="right_cliff_sensor" type="ray">
<pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="rightfront_cliff_sensor" type="ray">
<pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="wall_sensor" type="ray">
<pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.016000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
</link>
<link name="left_wheel">
<pose>0 0.130000 0.032000 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001000</iyy>
<iyz>0</iyz>
<izz>0.001000</izz>
</inertia>
<mass>0.010000</mass>
</inertial>
<collision name="collision">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>0 -0.130000 0.032000 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001000</iyy>
<iyz>0</iyz>
<izz>0.001000</izz>
</inertia>
<mass>0.010000</mass>
</inertial>
<collision name="collision">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
</visual>
</link>
<joint name="left_wheel" type="revolute">
<parent>base</parent>
<child>left_wheel</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name="right_wheel" type="revolute">
<parent>base</parent>
<child>right_wheel</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
</model>
</sdf>