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Marcin
2026-05-28 11:37:19 +02:00
commit e8c73b6101
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robot_with_wheels.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='industrial_robot_with_wheels'>
<pose>0 0 3.3 0 0 0</pose>
<!-- Kadłub -->
<link name='base_link'>
<inertial>
<mass>150.0</mass>
<inertia>
<ixx>128.5</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>200.5</iyy><iyz>0</iyz>
<izz>328.0</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry><box><size>4.0 3.2 0.2</size></box></geometry>
</collision>
<visual name='visual'>
<geometry><box><size>4.0 3.2 0.2</size></box></geometry>
<material><ambient>0.1 0.3 0.6 1</ambient><diffuse>0.1 0.3 0.6 1</diffuse></material>
</visual>
</link>
<!-- Funkcja pomocnicza do definicji osi i koła -->
<!-- FL (Front Left) -->
<link name='axle_fl'>
<pose>1.8 1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_fl'>
<pose>1.8 1.4 -3.1 1.5707 0 0</pose>
<collision name='collision'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
</collision>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient><diffuse>0 0 0 1</diffuse></material>
</visual>
</link>
<!-- FR (Front Right) -->
<link name='axle_fr'>
<pose>1.8 -1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_fr'>
<pose>1.8 -1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- BL (Back Left) -->
<link name='axle_bl'>
<pose>-1.8 1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_bl'>
<pose>-1.8 1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- BR (Back Right) -->
<link name='axle_br'>
<pose>-1.8 -1.4 -1.6 0 0 0</pose>
<visual name='visual'>
<geometry><box><size>0.2 0.2 3.0</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
<link name='wheel_br'>
<pose>-1.8 -1.4 -3.1 1.5707 0 0</pose>
<visual name='visual'>
<geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
</link>
<!-- JOINTS - SKRĘT (Revolute) -->
<joint name='steer_fl' type='revolute'>
<parent>base_link</parent><child>axle_fl</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_fr' type='revolute'>
<parent>base_link</parent><child>axle_fr</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_bl' type='revolute'>
<parent>base_link</parent><child>axle_bl</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<joint name='steer_br' type='revolute'>
<parent>base_link</parent><child>axle_br</child>
<axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
</joint>
<!-- JOINTS - NAPĘD/OBRÓT KOŁA (Continuous) -->
<joint name='wheel_fl_joint' type='revolute'>
<parent>axle_fl</parent><child>wheel_fl</child>
<axis><xyz>0 0 1</xyz></axis> <!-- Oś obrotu koła w SDF po rotacji linku -->
</joint>
<joint name='wheel_fr_joint' type='revolute'>
<parent>axle_fr</parent><child>wheel_fr</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name='wheel_bl_joint' type='revolute'>
<parent>axle_bl</parent><child>wheel_bl</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name='wheel_br_joint' type='revolute'>
<parent>axle_br</parent><child>wheel_br</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
</model>
</sdf>