188 lines
5.0 KiB
XML
188 lines
5.0 KiB
XML
<!-- DO NOT EDIT: Generated from spiri_with_tether.sdf.jinja -->
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<!-- tl = 0.8 num. of el. = 1 payload sz: 0.025-->
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<sdf version="1.5">
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<model name="spiri_with_tether">
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<pose> 0 0 0 0.0 0.0 0.0</pose>
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<include>
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<uri>model://spiri</uri>
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<pose>0.0 0.0 0.0 0.0 0.0 0</pose>
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<static>0</static>
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</include>
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<joint name="tether_to_spiri_joint" type="ball">
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<child>link_spiri_attch</child>
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<parent>spiri::base</parent><pose>0 0 -0.4 0 0 0 </pose>
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<physics>
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<ode></ode>
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<provide_feedback>true</provide_feedback>
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</physics>
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</joint>
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<plugin name="ft_sensor_spiri" filename="libgazebo_ros_ft_sensor.so">
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<updateRate>1.0</updateRate>
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<topicName>ft_sensor_topic/spiri</topicName>
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<jointName>tether_to_spiri_joint</jointName>
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</plugin>
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<link name="link_spiri_attch">
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<gravity>true</gravity>
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<pose>0.4 0.0 0 0.0 1.5707 0.0</pose>
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<inertial>
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<mass>0.004</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.8</length>
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<radius>0.005</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="element_visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.8</length>
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<radius>0.005</radius>
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</cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual><visual name="sphere_visual">
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<pose> 0 0 -0.4 0 0 0 </pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="link_spiri_attch_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.253582</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<useConstantDragCoefficient>true</useConstantDragCoefficient>
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<cp>0.4 0.005 0.005</cp>
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<area>0.008</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_spiri_attch</link_name>
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</plugin>
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<!-- PAYLOAD -->
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<model name='mass'>
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<link name="payload">
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<pose> 0.8 0 0 0 0 0</pose>
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<!--pose>0 0 0 0 0 0</pose-->
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<gravity>1</gravity>
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<inertial>
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<mass>0.25</mass>
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</inertial>
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<collision name="payload_collision">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.025</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="payload_visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.025</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<!-- Tether to Payload Connection -->
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<joint name="tether_mass_connection" type="fixed">
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<parent>payload</parent>
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<child>link_spiri_attch</child>
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<pose>0 0 0.4 0 0 0</pose>
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<physics>
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<ode></ode>
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<provide_feedback>true</provide_feedback>
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</physics>
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</joint>
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<!--/model--><link name='pload_imu'>
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<pose>0.8 0 0 0 0 0</pose>
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<inertial>
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<mass>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-05</iyy>
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<iyz>0</iyz>
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<izz>1e-05</izz>
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</inertia>
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</inertial>
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</link>
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<joint name='pload_imu_joint' type='revolute'>
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<child>pload_imu</child>
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<parent>payload</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<effort>0</effort>
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<velocity>0</velocity>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<plugin name='imu_plugin' filename='libgazebo_ros_imu.so'>
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<robotNamespace/>
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<alwaysOn>true</alwaysOn>
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<bodyName>pload_imu</bodyName>
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<topicName>/pload_imu</topicName>
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<serviceName>imu_service</serviceName>
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<gaussianNoise>0.0</gaussianNoise>
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<updateRate>20.0</updateRate>
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</plugin>
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</model>
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</model>
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</sdf>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
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