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wheels and bottom

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This commit is contained in:
Brian Gerkey 2012-12-14 17:00:07 -08:00
parent a45e1a43c1
commit 4a6987931d
1 changed files with 141 additions and 8 deletions
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149
polaris_ranger_ev/model-1_3.sdf
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@ -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>