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model.sdf
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model.sdf
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="diffcart">
<static>false</static>
<plugin name="diffcart_control" filename="libdiffcart_plugin.so"/>
<link name="base">
<pose>0 0 0.1 0 0 0</pose>
<collision name="base_collision">
<geometry>
<box>
<size>0.4 0.2 0.1</size>
</box>
</geometry>
</collision>
<visual name="base_visual">
<geometry>
<box>
<size>0.4 0.2 0.1</size>
</box>
</geometry>
</visual>
<collision name="base_ball_collision">
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="base_ball_visual">
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 0.13 0.1 -1.5707 0 0</pose>
<collision name="left_wheel_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="left_wheeel_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -0.13 0.1 -1.5707 0 0</pose>
<collision name="right_wheel_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="right_wheeel_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="revolute" name="base_2_left_wheel">
<parent>base</parent>
<child>left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="base_2_right_wheel">
<parent>base</parent>
<child>right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>