<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cessna_c172">
<pose>0 0 0.495 0 0 0</pose>
<!-- Body of the plane -->
<link name="body">
<inertial>
<mass>680.389</mass>
<inertia>
<ixx>1285.315427874</ixx>
<ixy>0.0</ixy>
<iyy>1824.930976707</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>2666.893931043</izz>
</inertia>
<pose>-0.0414 0 0.9271 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/body.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/body.dae</uri>
</mesh>
</geometry>
</visual>
<!-- Debug - Centers of pressure -->
<!--<visual name="cp_left_wing">
<pose>-1 2.205 1.5 0 0 0</pose>
<geometry>
<sphere><radius>0.1</radius></sphere>
</geometry>
</visual>
<visual name="cp_right_wing">
<pose>-1 -2.205 1.5 0 0 0</pose>
<geometry>
<sphere><radius>0.1</radius></sphere>
</geometry>
</visual>
<visual name="cp_elevator">
<pose>-5.45 0 0.55 0 0 0</pose>
<geometry>
<sphere><radius>0.1</radius></sphere>
</geometry>
</visual>
<visual name="cp_rudder">
<pose>-6 0 1.55 0 0 0</pose>
<geometry>
<sphere><radius>0.1</radius></sphere>
</geometry>
</visual>-->
</link>
<link name="left_aileron">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.8434</ixx>
<ixy>0.0</ixy>
<iyy>0.0119</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.855</izz>
</inertia>
<pose>-1.65 3.7 1.5 0.05 0 -0.12</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/left_aileron.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/left_aileron.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="left_flap">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.6747</ixx>
<ixy>0.0</ixy>
<iyy>0.0242</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.6962</izz>
</inertia>
<pose>-1.8 1.55 1.43 0.02 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/left_flap.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/left_flap.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="right_aileron">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.8434</ixx>
<ixy>0.0</ixy>
<iyy>0.0119</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.855</izz>
</inertia>
<pose>-1.65 -3.7 1.5 -0.05 0 0.12</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/right_aileron.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/right_aileron.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="right_flap">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.6747</ixx>
<ixy>0.0</ixy>
<iyy>0.0242</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.6962</izz>
</inertia>
<pose>-1.8 -1.55 1.43 -0.02 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/right_flap.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/right_flap.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="elevators">
<inertial>
<mass>2</mass>
<inertia>
<ixx>1.5008</ixx>
<ixy>0.0</ixy>
<iyy>0.0274</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>1.5266</izz>
</inertia>
<pose>-5.75 0 0.57 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/elevators.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/elevators.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="rudder">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.4708</ixx>
<ixy>0.0</ixy>
<iyy>0.5208</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.0508</izz>
</inertia>
<pose>-6.1 0 1.3 0 -0.35 0</pose>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://cessna/meshes/rudder.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/rudder.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="propeller">
<pose>1.79 0 0.855 0 0 0</pose>
<inertial>
<mass>18.37</mass>
<inertia>
<ixx>7.5067</ixx>
<ixy>0</ixy>
<iyy>7.5150</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.068275</izz>
</inertia>
<pose>-0.35 0 0 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<!-- In case a simple shape is preferred -->
<!--box><size>0.05 0.14 2.21</size></box>-->
<mesh>
<uri>model://cessna/meshes/cessna_prop.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_prop.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="front_wheel">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.01786</ixx>
<ixy>0</ixy>
<iyy>0.01786</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0324</izz>
</inertia>
<pose>0.712 0 -0.313 1.570795 0 0</pose>
</inertial>
<collision name="collision">
<pose>0.712 0 -0.313 1.570795 0 0</pose>
<geometry>
<cylinder>
<radius>0.18</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_front_wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="rear_left_wheel">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.035516</ixx>
<ixy>0</ixy>
<iyy>0.035516</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0625</izz>
</inertia>
<pose>-1 1.27 -0.25 1.570795 0 0</pose>
</inertial>
<collision name="collision">
<pose>-1 1.27 -0.25 1.570795 0 0</pose>
<geometry>
<cylinder>
<radius>0.25</radius>
<length>0.16</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_rear_left_wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="rear_right_wheel">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.035516</ixx>
<ixy>0</ixy>
<iyy>0.035516</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0625</izz>
</inertia>
<pose>-1 -1.27 -0.25 1.570795 0 0</pose>
</inertial>
<collision name="collision">
<pose>-1 -1.27 -0.25 1.570795 0 0</pose>
<geometry>
<cylinder>
<radius>0.25</radius>
<length>0.16</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_rear_right_wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<!-- Joint to move the left flap -->
<joint name='left_flap_joint' type='revolute'>
<parent>body</parent>
<child>left_flap</child>
<pose>-1.6 1.55 1.43 0.02 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to move the left aileron -->
<joint name='left_aileron_joint' type='revolute'>
<parent>body</parent>
<child>left_aileron</child>
<pose>-1.45 3.7 1.5 0.05 0 -0.12</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to move the right flap -->
<joint name='right_flap_joint' type='revolute'>
<parent>body</parent>
<child>right_flap</child>
<pose>-1.6 -1.55 1.43 -0.02 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to move the right aileron -->
<joint name='right_aileron_joint' type='revolute'>
<parent>body</parent>
<child>right_aileron</child>
<pose>-1.45 -3.7 1.5 -0.05 0 0.12</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to move the elevators -->
<joint name='elevators_joint' type='revolute'>
<parent>body</parent>
<child>elevators</child>
<pose>-5.55 0 0.57 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to move the rudder -->
<joint name='rudder_joint' type='revolute'>
<parent>body</parent>
<child>rudder</child>
<pose>-5.9 0 1.3 0 -0.35 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to make the propeller spin -->
<joint name='propeller_joint' type='revolute'>
<parent>body</parent>
<child>propeller</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.001</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to make the front wheel spin -->
<joint name='front_wheel_joint' type='revolute'>
<parent>body</parent>
<child>front_wheel</child>
<pose>0.712 0 -0.313 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.010</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to make the rear left wheel spin -->
<joint name='rear_left_wheel_joint' type='revolute'>
<parent>body</parent>
<child>rear_left_wheel</child>
<pose>-1 -1.27 -0.25 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.010</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- Joint to make the rear right wheel spin -->
<joint name='rear_right_wheel_joint' type='revolute'>
<parent>body</parent>
<child>rear_right_wheel</child>
<pose>-1 1.27 -0.25 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.010</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
</model>
</sdf>