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Add FNR switch, fix steering wheel c.g., tweak seat collisions (not sure if will be used)

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This commit is contained in:
Steve Peters 2013-04-29 18:33:23 -07:00
parent 02f0fff9c7
commit 2a86db6503
2 changed files with 107 additions and 4 deletions
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30
polaris_ranger_ev/materials/scripts/polaris.material
View File

@ -19,3 +19,33 @@ material Polaris/Diffuse
} }
} }
} }
material FNR_switch_F
{
receive_shadows off
technique
{
pass
{
ambient 1.0 1.0 1.0 1.000
texture_unit
{
texture FNR_switch_F.png
}
}
}
}
material FNR_switch_R
{
receive_shadows off
technique
{
pass
{
ambient 1.0 1.0 1.0 1.000
texture_unit
{
texture FNR_switch_R.png
}
}
}
}

81
polaris_ranger_ev/model.sdf
View File

@ -86,7 +86,7 @@
<pose>-0.1 0.0 0.560 0 0 0</pose> <pose>-0.1 0.0 0.560 0 0 0</pose>
<geometry> <geometry>
<box> <box>
<size>0.6 1.0 0.50</size> <size>0.6 1.22 0.50</size>
</box> </box>
</geometry> </geometry>
<surface> <surface>
@ -101,7 +101,7 @@
<pose>-0.1 0.0 0.81 0 0 0</pose> <pose>-0.1 0.0 0.81 0 0 0</pose>
<geometry> <geometry>
<box> <box>
<size>0.63 1.0 0.1</size> <size>0.6 1.15 0.1</size>
</box> </box>
</geometry> </geometry>
<surface> <surface>
@ -153,7 +153,7 @@
</geometry> </geometry>
</collision--> </collision-->
<collision name="handle_left_middle"> <collision name="handle_left_middle">
<pose>-0.35 0.61 1.055 0 -0.20 0</pose> <pose>-0.30 0.61 1.055 0 -0.20 0</pose>
<geometry> <geometry>
<cylinder> <cylinder>
<radius>0.02</radius> <radius>0.02</radius>
@ -728,7 +728,7 @@
<pose>0.34 0.30 1.29 0 -0.87 0</pose> <pose>0.34 0.30 1.29 0 -0.87 0</pose>
<inertial> <inertial>
<mass>1.0</mass> <mass>1.0</mass>
<pose>0 0 0 0 0 0</pose> <pose>-0.002 0 0 0 0 0</pose>
<inertia> <inertia>
<ixx>0.012</ixx> <ixx>0.012</ixx>
<ixy>0</ixy> <ixy>0</ixy>
@ -832,6 +832,60 @@
</visual> </visual>
</link> </link>
<link name='FNR_switch'>
<pose>0.56 0.05 1.08 0 0.25 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<!-- constrained about x axis -->
<!--ixx>0.00002</ixx-->
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00006</iyy>
<iyz>0</iyz>
<!-- constrained about z axis -->
<!--izz>0.00007</izz-->
<izz>0.1</izz>
</inertia>
</inertial>
<collision name="FNR_switch">
<geometry>
<box>
<size>0.02 0.04 0.08</size>
</box>
</geometry>
</collision>
<visual name="FNR_switch_F">
<geometry>
<box>
<size>0.02 0.04 0.08</size>
</box>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>FNR_switch_F</name>
</script>
</material>
</visual>
<visual name="FNR_switch_R">
<geometry>
<box>
<size>0.02 0.04 0.08</size>
</box>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>FNR_switch_R</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="front_left_steering_joint"> <joint type="revolute" name="front_left_steering_joint">
<child>front_left_wheel_steering_block</child> <child>front_left_wheel_steering_block</child>
<parent>chassis</parent> <parent>chassis</parent>
@ -982,6 +1036,25 @@
</ode> </ode>
</physics> </physics>
</joint> </joint>
<joint name='FNR_switch_joint' type='revolute'>
<parent>chassis</parent>
<child>FNR_switch</child>
<axis>
<xyz>0.0 -1.0 0.0</xyz>
<limit>
<lower>-0.3</lower>
<upper>0.3</upper>
</limit>
<dynamics>
<damping>0.1</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
</model> </model>
</sdf> </sdf>