Quella/gazebo_models
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Quella777
2025-08-25 16:30:02 +08:00
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submarine/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name='submarine'>
<pose>0 0 1.5 1.5707963267948966 0 0</pose>
<link name='body'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>251.32741228718348</mass>
<inertia>
<ixx>86.28907821859966</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>86.28907821859966</iyy>
<iyz>0</iyz>
<izz>5.026548245743671</izz>
</inertia>
</inertial>
<visual name='body_visual'>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name='body_collision'>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>2</length>
</cylinder>
</geometry>
</collision>
<visual name='spacer_visual'>
<pose>0 0 1.05855 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.0933402</radius>
<length>0.127211</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
</link>
<link name='propeller'>
<pose>0 0 1.09 3.14159 0 0</pose>
<inertial>
<mass>21.820000000000004</mass>
<inertia>
<ixx>0.45999415237916674</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.45999415237916674</iyy>
<iyz>0</iyz>
<izz>0.9091666666666668</izz>
</inertia>
</inertial>
<visual name=blade1_visual>
<pose>0.3433402 0.0 0 0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name=blade1_collision>
<pose>0.3433402 0.0 0 0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>
<visual name=blade2_visual>
<pose>0.0 0.3433402 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name=blade2_collision>
<pose>0.0 0.3433402 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>
<visual name=blade3_visual>
<pose>-0.3433402 -0.0 0 -0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name=blade3_collision>
<pose>-0.3433402 -0.0 0 -0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>
<visual name=blade4_visual>
<pose>-0.0 -0.3433402 0 -0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name=blade4_collision>
<pose>-0.0 -0.3433402 0 -0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>
</link>
<joint name='spinning_joint' type='revolute'>
<parent>body</parent>
<child>propeller</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
</axis>
</joint>
<allow_auto_disable>1</allow_auto_disable>
<plugin name="submarine_propeller_1" filename="libLiftDragPlugin.so">
<air_density>1000</air_density><cla>1.2535816618911175</cla><cla_stall>-1.4326647564469914</cla_stall><cda>0</cda><cda_stall>1.4326647564469914</cda_stall><alpha_stall>1.396</alpha_stall><a0>0</a0>
<area>0.27637</area>
<upward>0 -0.7071067811865476 -0.7071067811865475</upward>
<forward>0 -0.7071067811865475 0.7071067811865476</forward>
<link_name>propeller</link_name>
<cp>0.35 0 0</cp>
</plugin>
<plugin name="submarine_propeller_2" filename="libLiftDragPlugin.so">
<air_density>1000</air_density><cla>1.2535816618911175</cla><cla_stall>-1.4326647564469914</cla_stall><cda>0</cda><cda_stall>1.4326647564469914</cda_stall><alpha_stall>1.396</alpha_stall><a0>0</a0>
<area>0.27637</area>
<upward>-0.7071067811865475 0 -0.7071067811865476</upward>
<forward>-0.7071067811865476 0 0.7071067811865475</forward>
<link_name>propeller</link_name>
<cp>0 -0.35 0</cp>
</plugin>
<plugin name="submarine_propeller_3" filename="libLiftDragPlugin.so">
<air_density>1000</air_density><cla>1.2535816618911175</cla><cla_stall>-1.4326647564469914</cla_stall><cda>0</cda><cda_stall>1.4326647564469914</cda_stall><alpha_stall>1.396</alpha_stall><a0>0</a0>
<area>0.27637</area>
<upward>0 0.7071067811865475 -0.7071067811865476</upward>
<forward>0 -0.7071067811865476 -0.7071067811865475</forward>
<link_name>propeller</link_name>
<cp>-0.35 0 0</cp>
</plugin>
<plugin name="submarine_propeller_4" filename="libLiftDragPlugin.so">
<air_density>1000</air_density><cla>1.2535816618911175</cla><cla_stall>-1.4326647564469914</cla_stall><cda>0</cda><cda_stall>1.4326647564469914</cda_stall><alpha_stall>1.396</alpha_stall><a0>0</a0>
<area>0.27637</area>
<upward>0.7071067811865476 0 -0.7071067811865475</upward>
<forward>0.7071067811865475 0 0.7071067811865476</forward>
<link_name>propeller</link_name>
<cp>0 0.35 0</cp>
</plugin>
<plugin name="buoyancy" filename="libBuoyancyPlugin.so">
<fluid_density>1000</fluid_density>
</plugin>
</model>
</sdf>