439 lines
11 KiB
XML
439 lines
11 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="cart_soft_suspension">
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<link name="chassis">
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<pose>0 0 0.15 0 0 0</pose>
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<inertial>
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<pose>0.1 0 0 0 0 0</pose>
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<mass>10</mass>
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<inertia>
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<ixx>0.216666666666667</ixx>
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<iyy>0.841666666666667</iyy>
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<izz>1.04166666666667</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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<box>
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<size>1.0 0.5 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1.0 0.5 0.1</size>
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</box>
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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="susp_front_right">
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<pose>0.5 -0.298 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>0.000208333333333333</ixx>
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<iyy>0.000208333333333333</iyy>
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<izz>0.000208333333333333</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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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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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/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="susp_front_right_prismatic" type="prismatic">
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<parent>chassis</parent>
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<child>susp_front_right</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>-0.0375</lower>
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<upper>0.0375</upper>
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</limit>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>2500</spring_stiffness>
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<spring_reference>0.05</spring_reference>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name="wheel_front_right">
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<pose>0.5 -0.298 0.15 -1.5707963267949 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>0.00307916666666667</ixx>
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<iyy>0.00307916666666667</iyy>
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<izz>0.005625</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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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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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/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_right_spin" type="revolute">
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<parent>susp_front_right</parent>
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<child>wheel_front_right</child>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<link name="susp_front_left">
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<pose>0.5 0.298 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>0.000208333333333333</ixx>
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<iyy>0.000208333333333333</iyy>
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<izz>0.000208333333333333</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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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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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/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="susp_front_left_prismatic" type="prismatic">
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<parent>chassis</parent>
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<child>susp_front_left</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>-0.0375</lower>
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<upper>0.0375</upper>
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</limit>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>2500</spring_stiffness>
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<spring_reference>0.05</spring_reference>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name="wheel_front_left">
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<pose>0.5 0.298 0.15 -1.5707963267949 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>0.00307916666666667</ixx>
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<iyy>0.00307916666666667</iyy>
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<izz>0.005625</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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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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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/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_left_spin" type="revolute">
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<parent>susp_front_left</parent>
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<child>wheel_front_left</child>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<link name="susp_rear_right">
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<pose>-0.5 -0.298 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>0.000208333333333333</ixx>
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<iyy>0.000208333333333333</iyy>
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<izz>0.000208333333333333</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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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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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/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="susp_rear_right_prismatic" type="prismatic">
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<parent>chassis</parent>
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<child>susp_rear_right</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>-0.0375</lower>
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<upper>0.0375</upper>
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</limit>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>2500</spring_stiffness>
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<spring_reference>0.05</spring_reference>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name="wheel_rear_right">
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<pose>-0.5 -0.298 0.15 -1.5707963267949 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>0.00307916666666667</ixx>
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<iyy>0.00307916666666667</iyy>
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<izz>0.005625</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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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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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/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_rear_right_spin" type="revolute">
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<parent>susp_rear_right</parent>
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<child>wheel_rear_right</child>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<link name="susp_rear_left">
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<pose>-0.5 0.298 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>0.000208333333333333</ixx>
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<iyy>0.000208333333333333</iyy>
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<izz>0.000208333333333333</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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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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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/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="susp_rear_left_prismatic" type="prismatic">
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<parent>chassis</parent>
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<child>susp_rear_left</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>-0.0375</lower>
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<upper>0.0375</upper>
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</limit>
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<dynamics>
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<damping>100</damping>
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<spring_stiffness>2500</spring_stiffness>
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<spring_reference>0.05</spring_reference>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name="wheel_rear_left">
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<pose>-0.5 0.298 0.15 -1.5707963267949 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>0.00307916666666667</ixx>
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<iyy>0.00307916666666667</iyy>
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<izz>0.005625</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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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.08</length>
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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/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_rear_left_spin" type="revolute">
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<parent>susp_rear_left</parent>
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<child>wheel_rear_left</child>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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</model>
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</sdf>
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