<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cart_soft_suspension">
<link name="chassis">
<pose>0 0 0.15 0 0 0</pose>
<inertial>
<pose>0.1 0 0 0 0 0</pose>
<mass>10</mass>
<inertia>
<ixx>0.216666666666667</ixx>
<iyy>0.841666666666667</iyy>
<izz>1.04166666666667</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1.0 0.5 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1.0 0.5 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<link name="susp_front_right">
<pose>0.5 -0.298 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000208333333333333</ixx>
<iyy>0.000208333333333333</iyy>
<izz>0.000208333333333333</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="susp_front_right_prismatic" type="prismatic">
<parent>chassis</parent>
<child>susp_front_right</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-0.0375</lower>
<upper>0.0375</upper>
</limit>
<dynamics>
<damping>100</damping>
<spring_stiffness>2500</spring_stiffness>
<spring_reference>0.05</spring_reference>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<link name="wheel_front_right">
<pose>0.5 -0.298 0.15 -1.5707963267949 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.00307916666666667</ixx>
<iyy>0.00307916666666667</iyy>
<izz>0.005625</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="wheel_front_right_spin" type="revolute">
<parent>susp_front_right</parent>
<child>wheel_front_right</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<link name="susp_front_left">
<pose>0.5 0.298 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000208333333333333</ixx>
<iyy>0.000208333333333333</iyy>
<izz>0.000208333333333333</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="susp_front_left_prismatic" type="prismatic">
<parent>chassis</parent>
<child>susp_front_left</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-0.0375</lower>
<upper>0.0375</upper>
</limit>
<dynamics>
<damping>100</damping>
<spring_stiffness>2500</spring_stiffness>
<spring_reference>0.05</spring_reference>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<link name="wheel_front_left">
<pose>0.5 0.298 0.15 -1.5707963267949 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.00307916666666667</ixx>
<iyy>0.00307916666666667</iyy>
<izz>0.005625</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="wheel_front_left_spin" type="revolute">
<parent>susp_front_left</parent>
<child>wheel_front_left</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<link name="susp_rear_right">
<pose>-0.5 -0.298 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000208333333333333</ixx>
<iyy>0.000208333333333333</iyy>
<izz>0.000208333333333333</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="susp_rear_right_prismatic" type="prismatic">
<parent>chassis</parent>
<child>susp_rear_right</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-0.0375</lower>
<upper>0.0375</upper>
</limit>
<dynamics>
<damping>100</damping>
<spring_stiffness>2500</spring_stiffness>
<spring_reference>0.05</spring_reference>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<link name="wheel_rear_right">
<pose>-0.5 -0.298 0.15 -1.5707963267949 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.00307916666666667</ixx>
<iyy>0.00307916666666667</iyy>
<izz>0.005625</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="wheel_rear_right_spin" type="revolute">
<parent>susp_rear_right</parent>
<child>wheel_rear_right</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<link name="susp_rear_left">
<pose>-0.5 0.298 0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000208333333333333</ixx>
<iyy>0.000208333333333333</iyy>
<izz>0.000208333333333333</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="susp_rear_left_prismatic" type="prismatic">
<parent>chassis</parent>
<child>susp_rear_left</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-0.0375</lower>
<upper>0.0375</upper>
</limit>
<dynamics>
<damping>100</damping>
<spring_stiffness>2500</spring_stiffness>
<spring_reference>0.05</spring_reference>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<link name="wheel_rear_left">
<pose>-0.5 0.298 0.15 -1.5707963267949 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.00307916666666667</ixx>
<iyy>0.00307916666666667</iyy>
<izz>0.005625</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.08</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<joint name="wheel_rear_left_spin" type="revolute">
<parent>susp_rear_left</parent>
<child>wheel_rear_left</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>