cart_demo.world

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <physics type="ode">
      <gravity>0 0 -9.8</gravity>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>10.0</real_time_factor>
      <real_time_update_rate>10000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.001</max_step_size>
    </physics>
    
    <!-- 25.5kg total mass -->
    <model name="test_model">
    <pose>0 0 0.7 0 0 0</pose>
    <link name="link">
      <inertial>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
        <mass>21.0</mass>
      </inertial>
      <collision name="collision">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>1 1 0.1</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 -0.55 0 0 0</pose>
        <geometry>
          <box>
            <size>1 1 0.1</size>
          </box>
        </geometry>
        <material>
        	<script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Green</name>
        	</script>
        </material>
      </visual>
     
    </link>
    <link name="bar_1">
      <pose>0.45 0 -0.5 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.06 1.0 0.02</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.02 1.0 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Yellow</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="bar_12_joint" type="revolute">
      <parent>bar_2</parent>
      <child>bar_1</child>
      <pose>0 0.5 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="bar_13_joint" type="revolute">
      <parent>bar_3</parent>
      <child>bar_1</child>
      <pose>0 -0.5 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <link name="bar_2">
      <pose>0.5 0.5 -0.5 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <pose>-0.025 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.08 0.05 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>-0.025 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Black</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="bar_2_joint" type="revolute">
      <parent>link</parent>
      <child>bar_2</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <link name="bar_3">
      <pose>0.5 -0.5 -0.5 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <pose>-0.025 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>-0.025 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Black</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="bar_3_joint" type="revolute">
      <parent>link</parent>
      <child>bar_3</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <link name="wheel_1">
      <pose>0.5 0.55 -0.5 1.57079633 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
        <mass>1.0</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <fdir1>1 0 0</fdir1>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/White</name>
        	</script>>
        </material>
      </visual>
    </link>
    <joint name="wheel_1_joint" type="revolute">
      <parent>bar_2</parent>
      <child>wheel_1</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
    <link name="wheel_2">
      <pose>0.5 -0.55 -0.5 1.57079633 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
        <mass>1.0</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <fdir1>1 0 0</fdir1>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/White</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="wheel_2_joint" type="revolute">
      <parent>bar_3</parent>
      <child>wheel_2</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
    <link name="wheel_3">
      <pose>-0.5 0.55 -0.5 1.57079633 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
        <mass>1.0</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <fdir1>1 0 0</fdir1>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Black</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="wheel_3_joint" type="revolute">
      <parent>link</parent>
      <child>wheel_3</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <dynamics>
          <damping>0.0</damping>
          <friction>0.0</friction>
        </dynamics>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
    <link name="wheel_4">
      <pose>-0.5 -0.55 -0.5 1.57079633 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
        <mass>1.0</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <fdir1>1 0 0</fdir1>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Black</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint name="wheel_4_joint" type="revolute">
      <parent>link</parent>
      <child>wheel_4</child>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <dynamics>
          <damping>0.0</damping>
          <friction>0.0</friction>
        </dynamics>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>  
    <!--Input brake_pedal, gas_pedal-->
    <link name="gas_pedal">
      <pose>0.1 -0.1 -0.1 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <pose>0.04 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>-0.025 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Blue</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint type="prismatic" name="gas_joint">
      <parent>link</parent>
      <child>gas_pedal</child>
      <axis>
        <xyz>1 0 0</xyz>
        <limit><lower>0</lower><upper>0.2</upper></limit>
      </axis>
    </joint>
    
    <link name="brake_pedal">
      <pose>0.1 0.1 -0.1 0 0 0</pose>
      <inertial>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <pose>0.04 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <max_vel>100</max_vel>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0.04 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.02 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
        	  <uri>file://media/materials/scripts/gazebo.material</uri>
        	  <name>Gazebo/Red</name>
        	</script>
        </material>
      </visual>
    </link>
    <joint type="prismatic" name="brake_joint">
      <parent>link</parent>
      <child>brake_pedal</child>
      <axis>
        <xyz>1 0 0</xyz>
        <limit><lower>0</lower><upper>0.2</upper></limit>
      </axis>
    </joint>
    
   
     
    <plugin name="cart_test_plugin" filename="libCartDemoPlugin.so">
        <steer>bar_2_joint</steer>
        <steer_pid>10 0.1 0.5</steer_pid>
        <steer_ilim>-10 10</steer_ilim>
        <steer_pos>0.0</steer_pos>
        <!-- steer -->
        <steer_vel>0</steer_vel>
        <!-- not used -->
        <steer_eff>100.0</steer_eff>
        <!-- max pos pid effort -->
        <right>wheel_3_joint</right>
        <right_pid>0.1 0.0 0.001</right_pid>
        <right_ilim>-.1 .1</right_ilim>
        <right_pos>0</right_pos>
        <!-- final position pid -->
        <right_vel>0</right_vel>
        <!-- final velocity pid -->
        <right_eff>0.1</right_eff>
        <!-- drive torque -->
        <left>wheel_4_joint</left>
        <left_pid>0.1 0.0 0.001</left_pid>
        <left_ilim>-.1 .1</left_ilim>
        <left_pos>0</left_pos>
        <!-- final position pid -->
        <left_vel>0</left_vel>
        <!-- final velocity pid -->
        <left_eff>0.1</left_eff>
        <!-- drive torque -->
        <!-- Joint which controls the gas -->
     	  <gas>gas_joint</gas>
     	  <gas_pid>12 2 0</gas_pid>
        <gas_ilim>-3 3</gas_ilim>
     	  <!-- Joint which controls the gas -->
        <brake>brake_joint</brake>
        <brake_pid>-10.129 -1.02 0</brake_pid>
        <brake_ilim>-3 .3</brake_ilim>
      	<!-- Power is multiplied by "gas" to determine force applied to wheels -->
      	<front_power>10</front_power>
        <rear_power>10</rear_power>
        <!-- The angle range the front tires can turn for steering, in radians -->
      <tire_angle_range>0.5</tire_angle_range>
      <!-- Maximum speed for the car in meters/second -->
      <max_speed>10</max_speed>
      <!-- Factor for the down-force applied as the car travels faster -->
      <!-- A larger number increases the down force -->
      <aero_load>0.1</aero_load>
      </plugin>
  </model>
    <light type="directional" name="sun">
      <pose>0 0 10 0 0 0</pose>
      <diffuse>.8 .8 .8 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>10</range>
        <linear>0.01</linear>
        <constant>0.8</constant>
        <quadratic>0.0</quadratic>
      </attenuation>
      <direction>0 .5 -.5</direction>
      <cast_shadows>true</cast_shadows>
    </light>
  <model name="ground_plane">
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>500 500</size>
          </plane>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>500 500</size>
          </plane>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
  </world>
</sdf>