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Adding mymodel to the database #114

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c6a5d5c
Adding mymodel to the database
zsampson25 Nov 12, 2024
f2f0927
Made simple model
zsampson25 Nov 12, 2024
61ec658
mobile base code
zsampson25 Dec 6, 2024
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14 changes: 14 additions & 0 deletions mobile_base/model.config
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<?xml version="1.0" ?>
<model>
<name>mobile_base</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Your Name</name>
<email>[email protected]</email>
</author>
<description>
A mobile base with 4 Segway-style wheels connected to 4 caster swivel mechanisms.
This model is designed for simulation in Gazebo.
</description>
</model>
319 changes: 319 additions & 0 deletions mobile_base/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="mobile_base">
<static>false</static>

<!-- Base Link -->
<link name="base_link">
<pose>0 0 0.1 0 0 0</pose>
<inertial>
<mass>10.0</mass>
<inertia>
<ixx>1.0</ixx>
<iyy>1.0</iyy>
<izz>1.0</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="base_collision">
<geometry>
<box>
<size>1.0 1.0 0.2</size>
</box>
</geometry>
</collision>
<visual name="base_visual">
<geometry>
<box>
<size>1.0 1.0 0.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
</link>

<!-- Caster 1 and Wheel -->
<link name="caster1">
<pose>-0.4 -0.4 0.0 0 0 0</pose>
<collision name="caster1_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<visual name="caster1_visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
</link>

<joint name="caster1_swivel" type="revolute">
<parent>base_link</parent>
<child>caster1</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>

<link name="segway1_wheel">
<pose>-0.4 -0.4 -0.05 0 1.5708 0</pose> <!-- Upright wheel -->
<collision name="segway1_wheel_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="segway1_wheel_visual">
<geometry>
<cylinder>
<radius>0.05</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="segway1_wheel_joint" type="revolute">
<parent>caster1</parent>
<child>segway1_wheel</child>
<axis>
<xyz>1 0 0</xyz> <!-- Axis for upright wheel -->
</axis>
</joint>

<!-- Caster 2 and Wheel -->
<link name="caster2">
<pose>0.4 -0.4 0.0 0 0 0</pose>
<collision name="caster2_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<visual name="caster2_visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
</link>

<joint name="caster2_swivel" type="revolute">
<parent>base_link</parent>
<child>caster2</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>

<link name="segway2_wheel">
<pose>0.4 -0.4 -0.05 0 1.5708 0</pose> <!-- Upright wheel -->
<collision name="segway2_wheel_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="segway2_wheel_visual">
<geometry>
<cylinder>
<radius>0.05</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="segway2_wheel_joint" type="revolute">
<parent>caster2</parent>
<child>segway2_wheel</child>
<axis>
<xyz>1 0 0</xyz> <!-- Axis for upright wheel -->
</axis>
</joint>

<!-- Caster 3 and Wheel -->
<link name="caster3">
<pose>-0.4 0.4 0.0 0 0 0</pose>
<collision name="caster3_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<visual name="caster3_visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
</link>

<joint name="caster3_swivel" type="revolute">
<parent>base_link</parent>
<child>caster3</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>

<link name="segway3_wheel">
<pose>-0.4 0.4 -0.05 0 1.5708 0</pose> <!-- Upright wheel -->
<collision name="segway3_wheel_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="segway3_wheel_visual">
<geometry>
<cylinder>
<radius>0.05</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="segway3_wheel_joint" type="revolute">
<parent>caster3</parent>
<child>segway3_wheel</child>
<axis>
<xyz>1 0 0</xyz> <!-- Axis for upright wheel -->
</axis>
</joint>

<!-- Caster 4 and Wheel -->
<link name="caster4">
<pose>0.4 0.4 0.0 0 0 0</pose>
<collision name="caster4_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<visual name="caster4_visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
</link>

<joint name="caster4_swivel" type="revolute">
<parent>base_link</parent>
<child>caster4</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>

<link name="segway4_wheel">
<pose>0.4 0.4 -0.05 0 1.5708 0</pose> <!-- Upright wheel -->
<collision name="segway4_wheel_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="segway4_wheel_visual">
<geometry>
<cylinder>
<radius>0.05</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="segway4_wheel_joint" type="revolute">
<parent>caster4</parent>
<child>segway4_wheel</child>
<axis>
<xyz>1 0 0</xyz> <!-- Axis for upright wheel -->
</axis>
</joint>

</model>
</sdf>
15 changes: 15 additions & 0 deletions my_robot/model.config
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<?xml version="1.0"?>
<model>
<name>My Robot</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf>

<author>
<name>My Name</name>
<email>[email protected]</email>
</author>

<description>
My awesome robot.
</description>
</model>
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