oscillation_ctrl/models/spiri_with_tether/spiri_with_tether.sdf

<!-- DO NOT EDIT: Generated from spiri_with_tether.sdf.jinja -->
<!-- tl = 0.8 num. of el. = 1 payload sz: 0.025-->
<sdf version="1.5">
 <model name="spiri_with_tether">
  <pose> 0 0 0 0.0 0.0 0.0</pose> 
  <include>
    <uri>model://spiri</uri>
    <pose>0.0 0.0 0.0 0.0 0.0 0</pose>
    <static>0</static>
  </include>
  <joint name="tether_to_spiri_joint" type="ball">
    <child>link_spiri_attch</child>
    <parent>spiri::base</parent><pose>0 0 -0.4 0 0 0 </pose>
     
    <physics>
      <ode></ode>
      <provide_feedback>true</provide_feedback>
    </physics>
  </joint>
  <plugin name="ft_sensor_spiri" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>1.0</updateRate>
    <topicName>ft_sensor_topic/spiri</topicName>
    <jointName>tether_to_spiri_joint</jointName>
  </plugin>
    <link name="link_spiri_attch">
      <gravity>true</gravity>
      <pose>0.4 0.0 0 0.0 1.5707 0.0</pose>
      <inertial>
        <mass>0.004</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <pose>0.0 0 0 0 0 0</pose> 
        <geometry>
          <cylinder>
            <length>0.8</length>
            <radius>0.005</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
	      <min_depth>0.00005</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
	      <mu>1.0</mu>
	      <mu2>1.0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="element_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.8</length>
            <radius>0.005</radius>
          </cylinder>
        </geometry>
        <material>
        <script>
          <name>Gazebo/White</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual><visual name="sphere_visual">
        <pose> 0 0 -0.4 0 0 0 </pose>
        <geometry>
          <sphere>
            <radius>0.01</radius>
          </sphere>
        </geometry>
        <material>
        <script>
          <name>Gazebo/Red</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
      </visual>
    </link>
    <plugin name="link_spiri_attch_drag" filename="libLiftDragPlugin.so">
      <robotNamespace></robotNamespace>
      <a0>0</a0>
      <cla>0</cla>
      <cda>1.253582</cda>
      <alpha_stall>0</alpha_stall>
      <cda_stall>1.4326647564469914</cda_stall>
      <useConstantDragCoefficient>true</useConstantDragCoefficient>
      <cp>0.4 0.005 0.005</cp>
      <area>0.008</area>
      <air_density>1.2041</air_density>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>link_spiri_attch</link_name>
    </plugin>
     <!-- PAYLOAD -->
  <model name='mass'>
    <link name="payload">
      <pose> 0.8 0 0 0 0 0</pose>
      <!--pose>0 0 0 0 0 0</pose-->
	    <gravity>1</gravity>
	    <inertial>
		    <mass>0.25</mass>
	    </inertial> 
	    <collision name="payload_collision">
		    <pose>0 0 0 0 0 0</pose>
		    <geometry>
			    <sphere>
				   <radius>0.025</radius>
			    </sphere>
		    </geometry>
	    </collision>
	    <visual name="payload_visual">
		    <pose>0 0 0 0 0 0</pose>
      <geometry>
          <sphere>
            <radius>0.025</radius>
          </sphere>
        </geometry>
	    </visual>
    </link>
	  <!-- Tether to Payload Connection -->
	  <joint name="tether_mass_connection" type="fixed">
		  <parent>payload</parent>
		  <child>link_spiri_attch</child>
		  <pose>0 0 0.4 0 0 0</pose> 
    <physics>
      <ode></ode> 
      <provide_feedback>true</provide_feedback> 
    </physics> 
	  </joint>
  <!--/model--><link name='pload_imu'>
	      <pose>0.8 0 0 0 0 0</pose>
	      <inertial>
		<mass>0.015</mass>
		<inertia>
		  <ixx>1e-05</ixx>
		  <ixy>0</ixy>
		  <ixz>0</ixz>
		  <iyy>1e-05</iyy>
		  <iyz>0</iyz>
		  <izz>1e-05</izz>
		</inertia>
	      </inertial>
	    </link>
	    <joint name='pload_imu_joint' type='revolute'>
	      <child>pload_imu</child>
	      <parent>payload</parent>
	      <axis>
		<xyz>1 0 0</xyz>
		<limit>
		  <lower>0</lower>
		  <upper>0</upper>
		  <effort>0</effort>
		  <velocity>0</velocity>
		</limit>
		<dynamics>
		  <spring_reference>0</spring_reference>
		  <spring_stiffness>0</spring_stiffness>
		</dynamics>
		<use_parent_model_frame>0</use_parent_model_frame>
	      </axis>
	    </joint>
      <plugin name='imu_plugin' filename='libgazebo_ros_imu.so'>
        <robotNamespace/>
        <alwaysOn>true</alwaysOn>
        <bodyName>pload_imu</bodyName>
        <topicName>/pload_imu</topicName>
        <serviceName>imu_service</serviceName>
        <gaussianNoise>0.0</gaussianNoise>
        <updateRate>20.0</updateRate>
      </plugin>
    </model>
  
 </model>
</sdf>

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