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added seat, engine, and steering wheel

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This commit is contained in:
Brian Gerkey 2012-12-17 18:17:17 -08:00
parent 4a6987931d
commit 23fe4e5138
1 changed files with 103 additions and 3 deletions
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106
polaris_ranger_ev/model-1_3.sdf
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@ -7,7 +7,7 @@
</inertial>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 0 -1.507</pose>
<pose>0 0 0 0 0 -1.5708</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@ -15,13 +15,113 @@
</geometry>
</visual>
<collision name="chassis_bottom">
<pose>0.0 0.0 0.3 0.0 0.0 0.0</pose>
<pose>0.0 0.0 0.35 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>2.0 1.0 0.01</size>
<size>2.0 1.0 0.1</size>
</box>
</geometry>
</collision>
<collision name="cargo_bottom">
<pose>-0.9 0.0 0.9 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.9 1.2 0.01</size>
</box>
</geometry>
</collision>
<collision name="cargo_front">
<pose>-0.45 0.0 1.025 0.0 1.5708 0.0</pose>
<geometry>
<box>
<size>0.25 1.2 0.05</size>
</box>
</geometry>
</collision>
<collision name="cargo_back">
<pose>-1.35 0.0 1.025 0.0 1.5708 0.0</pose>
<geometry>
<box>
<size>0.25 1.2 0.05</size>
</box>
</geometry>
</collision>
<collision name="cargo_left">
<pose>-0.9 0.6 1.025 1.5708 1.5708 0.0</pose>
<geometry>
<box>
<size>0.25 0.9 0.05</size>
</box>
</geometry>
</collision>
<collision name="cargo_right">
<pose>-0.9 -0.6 1.025 1.5708 1.5708 0.0</pose>
<geometry>
<box>
<size>0.25 0.9 0.05</size>
</box>
</geometry>
</collision>
<collision name="seat">
<pose>-0.1 0.0 0.625 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.6 1.0 0.65</size>
</box>
</geometry>
</collision>
<collision name="seat_back">
<pose>-0.3 0.0 1.125 0.0 -0.2 0.0</pose>
<geometry>
<box>
<size>0.1 1.0 0.4</size>
</box>
</geometry>
</collision>
<collision name="engine">
<pose>0.95 0.0 0.7 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.75 1.0 0.8</size>
</box>
</geometry>
</collision>
<collision name="steering_column">
<pose>0.525 0.3 1.025 0.0 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.45</length>
</cylinder>
</geometry>
</collision>
<collision name="steering_wheel_post_left">
<pose>0.37 0.38 1.2 1.5708 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.15</length>
</cylinder>
</geometry>
</collision>
<collision name="steering_wheel_post_right">
<pose>0.37 0.23 1.2 1.5708 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.15</length>
</cylinder>
</geometry>
</collision>
<collision name="steering_wheel_post_middle">
<pose>0.325 0.305 1.15 0.0 -2.3708 0.0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.15</length>
</cylinder>
</geometry>
</collision>
</link>
<link name="rear_right_wheel">
<pose>-0.85 -0.675 0.3 1.5708 0.0 0.0</pose>