mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
307 lines
7.6 KiB
XML
307 lines
7.6 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="cessna">
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<pose>0 0 0.495 0 0 0</pose>
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<!-- Body of the plane -->
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<link name="body">
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<inertial>
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<mass>680.389</mass>
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<inertia>
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<ixx>1285.315427874</ixx>
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<ixy>0.0</ixy>
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<iyy>1824.930976707</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>2666.893931043</izz>
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</inertia>
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<pose>-0.0414 0 0.9271 0 0 0</pose>
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</inertial>
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/cessna_body.dae</uri>
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</mesh>
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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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<mesh>
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<uri>model://cessna/meshes/cessna_body.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<!-- Debug - Centers of pressure -->
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<!--<visual name="cp_left_wing">
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<pose>-1 2.205 1.5 0 0 0</pose>
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<geometry>
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<sphere><radius>0.1</radius></sphere>
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</geometry>
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</visual>
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<visual name="cp_right_wing">
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<pose>-1 -2.205 1.5 0 0 0</pose>
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<geometry>
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<sphere><radius>0.1</radius></sphere>
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</geometry>
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</visual>
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<visual name="cp_elevator">
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<pose>-5.45 0 0.55 0 0 0</pose>
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<geometry>
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<sphere><radius>0.1</radius></sphere>
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</geometry>
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</visual>
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<visual name="cp_rudder">
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<pose>-6 0 1.55 0 0 0</pose>
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<geometry>
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<sphere><radius>0.1</radius></sphere>
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</geometry>
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</visual>-->
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</link>
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<link name="propeller">
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<pose>1.79 0 0.855 0 0 0</pose>
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<inertial>
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<mass>18.37</mass>
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<inertia>
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<ixx>7.5067</ixx>
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<ixy>0</ixy>
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<iyy>7.5150</iyy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.068275</izz>
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</inertia>
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<pose>-0.35 0 0 0 0 0</pose>
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</inertial>
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<collision name="collision">
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<geometry>-->
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<!-- In case a simple shape is preferred -->
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<!--box><size>0.05 0.14 2.21</size></box>-->
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<mesh>
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<uri>model://cessna/meshes/cessna_prop.dae</uri>
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</mesh>
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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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<mesh>
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<uri>model://cessna/meshes/cessna_prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="front_wheel">
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<inertial>
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<mass>2</mass>
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<inertia>
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<ixx>0.01786</ixx>
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<ixy>0</ixy>
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<iyy>0.01786</iyy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.0324</izz>
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</inertia>
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<pose>0.712 0 -0.313 1.570795 0 0</pose>
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</inertial>
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<collision name="collision">
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<pose>0.712 0 -0.313 1.570795 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.18</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/cessna_front_wheel.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="rear_left_wheel">
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<inertial>
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<mass>2</mass>
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<inertia>
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<ixx>0.035516</ixx>
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<ixy>0</ixy>
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<iyy>0.035516</iyy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.0625</izz>
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</inertia>
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<pose>-1 1.27 -0.25 1.570795 0 0</pose>
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</inertial>
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<collision name="collision">
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<pose>-1 1.27 -0.25 1.570795 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.25</radius>
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<length>0.16</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/cessna_rear_left_wheel.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="rear_right_wheel">
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<inertial>
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<mass>2</mass>
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<inertia>
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<ixx>0.035516</ixx>
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<ixy>0</ixy>
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<iyy>0.035516</iyy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.0625</izz>
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</inertia>
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<pose>-1 -1.27 -0.25 1.570795 0 0</pose>
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</inertial>
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<collision name="collision">
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<pose>-1 -1.27 -0.25 1.570795 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.25</radius>
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<length>0.16</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/cessna_rear_right_wheel.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<!-- Joint to make the propeller spin -->
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<joint name='propeller_joint' type='revolute'>
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<parent>body</parent>
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<child>propeller</child>
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<axis>
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<xyz>1 0 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to make the front wheel spin -->
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<joint name='front_wheel_joint' type='revolute'>
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<parent>body</parent>
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<child>front_wheel</child>
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<pose>0.712 0 -0.313 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to make the rear left wheel spin -->
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<joint name='rear_left_wheel_joint' type='revolute'>
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<parent>body</parent>
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<child>rear_left_wheel</child>
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<pose>-1 -1.27 -0.25 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to make the rear right wheel spin -->
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<joint name='rear_right_wheel_joint' type='revolute'>
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<parent>body</parent>
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<child>rear_right_wheel</child>
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<pose>-1 1.27 -0.25 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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