cliffordFixed.sdf

<?xml version="1.0" ?>
<sdf version='1.6'>
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          <iyz>-3.38813e-21</iyz>
          <izz>0.000212705</izz>
        </inertia>
      </inertial>
      <visual name='frwheel_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://meshes/wheelHub.STL</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name='fltire'>
      <pose frame=''>0.342686 0.134999 -0.073994 -1.4358 -2.4e-05 1.57078</pose>
      <inertial>
        <pose frame=''>0.045 0 0 0 -0 0</pose>
        <mass>2.65072</mass>
        <inertia>
          <ixx>0.0140819</ixx>
          <ixy>-1.63996e-19</ixy>
          <ixz>-5.51633e-19</ixz>
          <iyy>0.00883021</iyy>
          <iyz>-1.0842e-19</iyz>
          <izz>0.00883021</izz>
        </inertia>
      </inertial>
      <collision name='fltire_collision'>
        <pose frame=''>0.045 0 0 0 1.57079632679 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.09</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='fltire_visual'>
        <pose frame=''>0.045 0 0 0 1.57079632679 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.09</length>
          </cylinder>
        </geometry>
      </visual>
    </link>
    <link name='frtire'>
      <pose frame=''>0.342682 -0.225001 -0.074003 -1.07467 -2.4e-05 1.57078</pose>
      <inertial>
        <pose frame=''>0.045 -0 0 0 -0 0</pose>
        <mass>2.65072</mass>
        <inertia>
          <ixx>0.0140819</ixx>
          <ixy>6.05221e-19</ixy>
          <ixz>2.56811e-19</ixz>
          <iyy>0.00883021</iyy>
          <iyz>-8.67362e-19</iyz>
          <izz>0.00883021</izz>
        </inertia>
      </inertial>
      <collision name='frtire_collision'>
        <pose frame=''>0.045 0 0 0 1.57079632679 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.09</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='frtire_visual'>
        <pose frame=''>0.045 0 0 0 1.57079632679 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.09</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <!-- Joints-->

    <joint name='body2bro' type='spherical'>
      <child>bro</child>
      <parent>body</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='bro2axle' type='spherical'>
      <child>backAxle</child>
      <parent>bro</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2bli' type='spherical'>
      <child>bli</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>

    <joint name='axle2blo' type='spherical'>
      <child>blo</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2blslower' type='spherical'>
      <child>blslower</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2blwheel' type='revolute'>
      <child>blwheel</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>0.264117 0 0.964491</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>
          <damping>10</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name='blwheel2tire' type='continuous'>
      <child>bltire</child>
      <parent>blwheel</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2bri' type='spherical'>
      <child>bri</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2brslower' type='spherical'>
      <child>brslower</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2brwheel' type='revolute'>
      <child>brwheel</child>
      <parent>backAxle</parent>
      <axis>
        <xyz>0.264117 0 0.964491</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>
          <damping>10</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name='brwheel2tire' type='continuous'>
      <child>brtire</child>
      <parent>brwheel</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='body2fro' type='spherical'>
      <child>fro</child>
      <parent>body</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='fro2Axle' type='spherical'>
      <child>frontAxle</child>
      <parent>fro</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2fli' type='spherical'>
      <child>fli</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2flo' type='spherical'>
      <child>flo</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2flslower' type='spherical'>
      <child>flslower</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2flwheel' type='revolute'>
      <child>flwheel</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>-0.264098 -2e-05 0.964496</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>10</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name='flwheel2tire' type='continuous'>
      <child>fltire</child>
      <parent>flwheel</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2fri' type='spherical'>
      <child>fri</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2frslower' type='spherical'>
      <child>frslower</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>
    <joint name='axle2frwheel' type='revolute'>
      <child>frwheel</child>
      <parent>frontAxle</parent>
      <axis>
        <xyz>0.264098 2e-05 -0.964496</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>10</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name='frwheel2tire' type='continuous'>
      <child>frtire</child>
      <parent>frwheel</parent>
      <axis>
        <xyz>1 0 0</xyz>
      </axis>
    </joint>-->

    <!-- Suspension Componenets -->

    <joint name='brslower2upper' type='prismatic'>
      <child>brsupper</child>
      <parent>brslower</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.00500</lower>
          <upper>0.0075000</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
    </joint>
    <joint name='blslower2upper' type='prismatic'>
      <child>blsupper</child>
      <parent>blslower</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.00500</lower>
          <upper>0.0075000</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
    </joint>
    <joint name='frslower2upper' type='prismatic'>
      <child>frsupper</child>
      <parent>frslower</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.00500</lower>
          <upper>0.0075000</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
    </joint>
    <joint name='flslower2upper' type='prismatic'>
      <child>flsupper</child>
      <parent>flslower</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.00500</lower>
          <upper>0.0075000</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
    </joint>
  </model>

</sdf>