From 4a6987931d5d82490d3cb01de0c58c41054489eb Mon Sep 17 00:00:00 2001
From: Brian Gerkey <gerkey@osrfoundation.org>
Date: Fri, 14 Dec 2012 17:00:07 -0800
Subject: [PATCH] wheels and bottom

---
 polaris_ranger_ev/model-1_3.sdf | 149 ++++++++++++++++++++++++++++++--
 1 file changed, 141 insertions(+), 8 deletions(-)

diff --git a/polaris_ranger_ev/model-1_3.sdf b/polaris_ranger_ev/model-1_3.sdf
index ec6912a..b727ac3 100644
--- a/polaris_ranger_ev/model-1_3.sdf
+++ b/polaris_ranger_ev/model-1_3.sdf
@@ -2,21 +2,154 @@
 <sdf version="1.3">
   <model name="Polaris Ranger EV">
     <link name="chassis">
-      <pose>0 0 0 0 0 0</pose>
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
+      <inertial>
+        <mass>500.0</mass>
+      </inertial>
       <visual name="visual">
+        <!-- rotate mesh to get to X-forward -->
+        <pose>0 0 0 0 0 -1.507</pose>
         <geometry>
           <mesh>
             <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
           </mesh>
         </geometry>
       </visual>
+      <collision name="chassis_bottom">
+        <pose>0.0 0.0 0.3 0.0 0.0 0.0</pose> 
+        <geometry>
+          <box>
+            <size>2.0 1.0 0.01</size>
+          </box>
+        </geometry>
+      </collision>
     </link>
+    <link name="rear_right_wheel">
+      <pose>-0.85 -0.675 0.3 1.5708 0.0 0.0</pose>
+      <inertial>
+        <mass>0.5</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.2</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </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>
+    </joint>
+    <link name="rear_left_wheel">
+      <pose>-0.85 0.575 0.3 1.5708 0.0 0.0</pose>
+      <inertial>
+        <mass>0.5</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.2</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint type="revolute" name="rear_left_wheel_joint">
+      <pose>0.0 0.0 0.1 0 0 0</pose>
+      <child>rear_left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <link name="front_right_wheel">
+      <pose>1.03 -0.55 0.3 1.5708 0.0 0.0</pose>
+      <inertial>
+        <mass>0.5</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.2</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint type="revolute" name="front_right_wheel_joint">
+      <pose>0.0 0.0 -0.1 0 0 0</pose>
+      <child>front_right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <link name="front_left_wheel">
+      <pose>1.03 0.65 0.3 1.5708 0.0 0.0</pose>
+      <inertial>
+        <mass>0.5</mass>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.2</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint type="revolute" name="front_left_wheel_joint">
+      <pose>0.0 0.0 0.1 0 0 0</pose>
+      <child>front_left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
   </model>
 </sdf>