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Quella777
2025-08-25 16:30:02 +08:00
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trisphere_cycle/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="trisphere_cycle">
<link name="frame">
<pose>-0.40855911616047164 0 0.38502293110800634 0 -0.522020852957719 0</pose>
<inertial>
<pose>0.0 0 0 0 0 0</pose>
<mass>10</mass>
<inertia>
<ixx>0.22799999999999998</ixx>
<iyy>0.7435210984814149</iyy>
<izz>0.9655210984814149</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="axle_collision">
<pose>-0.4713346258704366 0 0 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>1.0392304845413263</length>
<radius>0.03</radius>
</cylinder>
</geometry>
</collision>
<visual name="axle_visual">
<pose>-0.4713346258704366 0 0 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>1.0392304845413263</length>
<radius>0.03</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="frame_left_collision">
<pose>0 0.17155177419583564 0 0 1.5707963267948966 -0.3490658503988659</pose>
<geometry>
<cylinder>
<length>1.0031676644991372</length>
<radius>0.03</radius>
</cylinder>
</geometry>
</collision>
<visual name="frame_left_visual">
<pose>0 0.17155177419583564 0 0 1.5707963267948966 -0.3490658503988659</pose>
<geometry>
<cylinder>
<length>1.0031676644991372</length>
<radius>0.03</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="frame_right_collision">
<pose>0 -0.17155177419583564 0 0 1.5707963267948966 0.3490658503988659</pose>
<geometry>
<cylinder>
<length>1.0031676644991372</length>
<radius>0.03</radius>
</cylinder>
</geometry>
</collision>
<visual name="frame_right_visual">
<pose>0 -0.17155177419583564 0 0 1.5707963267948966 0.3490658503988659</pose>
<geometry>
<cylinder>
<length>1.0031676644991372</length>
<radius>0.03</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<link name="fork">
<pose>0.04144088383952833 0 0.38502293110800634 0 -0.17453292519943295 0</pose>
<inertial>
<mass>3</mass>
<inertia>
<ixx>0.15820312499999997</ixx>
<iyy>0.058359374999999984</iyy>
<izz>0.10265624999999999</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="handlebars_collision">
<pose>0 0 0.397747564417433 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>0.6363961030678927</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
</collision>
<visual name="handlebars_visual">
<pose>0 0 0.397747564417433 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>0.6363961030678927</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="headtube_collision">
<pose>0 0 0.2386485386504598 0 0 0</pose>
<geometry>
<cylinder>
<length>0.31819805153394637</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
</collision>
<visual name="headtube_visual">
<pose>0 0 0.2386485386504598 0 0 0</pose>
<geometry>
<cylinder>
<length>0.31819805153394637</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="spindle_collision">
<pose>0 0 -0.23864853865045976 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>0.6363961030678927</length>
<radius>0.015</radius>
</cylinder>
</geometry>
</collision>
<visual name="spindle_visual">
<pose>0 0 -0.23864853865045976 1.5707963267948966 0 0</pose>
<geometry>
<cylinder>
<length>0.6363961030678927</length>
<radius>0.015</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="fork_left_collision">
<pose>0 0.15909902576697318 -0.07954951288348658 0.7853981633974483 0 0</pose>
<geometry>
<cylinder>
<length>0.45</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
</collision>
<visual name="fork_left_visual">
<pose>0 0.15909902576697318 -0.07954951288348658 0.7853981633974483 0 0</pose>
<geometry>
<cylinder>
<length>0.45</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="fork_right_collision">
<pose>0 -0.15909902576697318 -0.07954951288348658 -0.7853981633974483 0 0</pose>
<geometry>
<cylinder>
<length>0.45</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
</collision>
<visual name="fork_right_visual">
<pose>0 -0.15909902576697318 -0.07954951288348658 -0.7853981633974483 0 0</pose>
<geometry>
<cylinder>
<length>0.45</length>
<radius>0.0375</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<link name="wheel_front">
<pose>0.08288176767905665 0 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.0045</ixx>
<iyy>0.0045</iyy>
<izz>0.0045</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.15</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>100000000.0</kp>
<kd>1</kd>
<min_depth>0.0005</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<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_front_steer" type="revolute">
<parent>frame</parent>
<child>fork</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.9599310885968813</lower>
<upper>0.9599310885968813</upper>
</limit>
</axis>
</joint>
<joint name="wheel_front_spin" type="revolute">
<parent>fork</parent>
<child>wheel_front</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<link name="wheel_rear_left">
<pose>-0.8171182323209433 0.5196152422706631 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.0045</ixx>
<iyy>0.0045</iyy>
<izz>0.0045</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.15</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>100000000.0</kp>
<kd>1</kd>
<min_depth>0.0005</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<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_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>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.0045</ixx>
<iyy>0.0045</iyy>
<izz>0.0045</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.15</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>100000000.0</kp>
<kd>1</kd>
<min_depth>0.0005</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<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>