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Added new polaris mesh. Need to update materials

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This commit is contained in:
Nate Koenig 2013-03-28 17:20:41 -07:00
parent 11c5a4358f
commit 292712518f
2 changed files with 243 additions and 144 deletions
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221
polaris_ranger_ev/meshes/polaris.dae
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164
polaris_ranger_ev/model-1_3.sdf
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@ -81,7 +81,7 @@
</geometry> </geometry>
</collision> </collision>
<collision name="seat"> <collision name="seat">
<pose>-0.1 0.0 0.625 0.0 0.0 0.0</pose> <pose>-0.1 0.0 0.585 0.0 0.0 0.0</pose>
<geometry> <geometry>
<box> <box>
<size>0.6 1.0 0.55</size> <size>0.6 1.0 0.55</size>
@ -363,18 +363,6 @@
</material> </material>
</visual> </visual>
</link> </link>
<joint type="revolute" name="rear_right_wheel_joint">
<pose>0.0 0.0 -0.1 0 0 0</pose>
<child>rear_right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<link name="rear_left_wheel"> <link name="rear_left_wheel">
<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose> <pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
<inertial> <inertial>
@ -426,18 +414,6 @@
</visual> </visual>
</link> </link>
<joint type="revolute" name="rear_left_wheel_joint">
<child>rear_left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<link name="front_right_wheel"> <link name="front_right_wheel">
<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose> <pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
<inertial> <inertial>
@ -507,34 +483,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint type="revolute" name="front_right_steering_joint">
<child>front_right_wheel_steering_block</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
</limit>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="front_right_wheel_joint">
<child>front_right_wheel</child>
<parent>front_right_wheel_steering_block</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<link name="front_left_wheel"> <link name="front_left_wheel">
<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose> <pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
<inertial> <inertial>
@ -602,32 +550,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint type="revolute" name="front_left_steering_joint">
<child>front_left_wheel_steering_block</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
</limit>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="front_left_wheel_joint">
<child>front_left_wheel</child>
<parent>front_left_wheel_steering_block</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<!-- gas/brake pedals, steering wheel and hand brake --> <!-- gas/brake pedals, steering wheel and hand brake -->
<link name='gas_pedal'> <link name='gas_pedal'>
<pose>0.53 0.14 0.56 0 0 0</pose> <pose>0.53 0.14 0.56 0 0 0</pose>
@ -811,6 +733,76 @@
</material> </material>
</visual> </visual>
</link> </link>
<joint type="revolute" name="front_left_steering_joint">
<child>front_left_wheel_steering_block</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
</limit>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="front_left_wheel_joint">
<child>front_left_wheel</child>
<parent>front_left_wheel_steering_block</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="front_right_steering_joint">
<child>front_right_wheel_steering_block</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
</limit>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="front_right_wheel_joint">
<child>front_right_wheel</child>
<parent>front_right_wheel_steering_block</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint type="revolute" name="rear_left_wheel_joint">
<child>rear_left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<joint name='gas_joint' type='prismatic'> <joint name='gas_joint' type='prismatic'>
<parent>chassis</parent> <parent>chassis</parent>
<child>gas_pedal</child> <child>gas_pedal</child>
@ -856,5 +848,19 @@
</limit> </limit>
</axis> </axis>
</joint> </joint>
<joint type="revolute" name="rear_right_wheel_joint">
<pose>0.0 0.0 -0.1 0 0 0</pose>
<child>rear_right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
</model> </model>
</sdf> </sdf>