mirror of
https://github.com/osrf/gazebo_models.git
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Polaris XP900 without roll cage created.
This commit is contained in:
Carlos Agüero
parent
d80e15a5c4
commit
7487a3625b
@ -91,6 +91,7 @@ pioneer2dx
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pioneer3at
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polaris_ranger_ev
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polaris_ranger_xp900
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polaris_ranger_xp900_no_roll_cage
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powerplant
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pr2
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pr2_gripper
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319
polaris_ranger_xp900_no_roll_cage/meshes/chasis.dae
Normal file
319
polaris_ranger_xp900_no_roll_cage/meshes/chasis.dae
Normal file
File diff suppressed because one or more lines are too long
22
polaris_ranger_xp900_no_roll_cage/model.config
Normal file
22
polaris_ranger_xp900_no_roll_cage/model.config
Normal file
@ -0,0 +1,22 @@
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<?xml version="1.0"?>
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<model>
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<name>Polaris Ranger XP900 without roll cage</name>
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<version>1.0</version>
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<sdf version="1.4">model.sdf</sdf>
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<author>
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<name>Cole Biesemeyer</name>
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<email>cole.bsmr@gmail.com</email>
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</author>
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<author>
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<name>Nate Koenig</name>
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<email>natekoenig@gmail.com</email>
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</author>
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<description>
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A model of the Polaris Ranger XP900 without roll cage.
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</description>
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</model>
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946
polaris_ranger_xp900_no_roll_cage/model.sdf
Normal file
946
polaris_ranger_xp900_no_roll_cage/model.sdf
Normal file
@ -0,0 +1,946 @@
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<?xml version="1.0"?>
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<sdf version="1.4">
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<model name="polaris_ranger_xp900">
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<static>false</static>
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<link name="chassis">
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<inertial>
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<mass>720.0</mass>
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<inertia>
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<ixx>140</ixx>
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<ixy>0.0</ixy><iyy>550</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
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</inertia>
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<pose>0.1 0 0.4 0 0 0</pose>
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</inertial>
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<visual name="visual">
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<pose>0 0 0 0 0 -1.570796</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900_no_roll_cage/meshes/chasis.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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<collision name="chassis_bottom">
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<pose>0.2 0.0 0.335 0 0 0</pose>
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<geometry>
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<box>
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<size>1.34 1.65746 0.06</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_bottom">
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<pose>-1.0 0.0 0.921 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>1.04609 1.6998 0.01</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_front">
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<pose>-0.495 0.0 1.06 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.05 1.69982 0.27</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_back">
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<pose>-1.465 0.0 1.06 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.05 1.69982 0.27</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_left">
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<pose>-0.97 0.82491 1.06 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>1.04609 0.05 0.27</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_right">
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<pose>-0.97 -0.82491 1.06 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>1.04609 0.05 0.27</size>
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</box>
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</geometry>
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</collision>
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<collision name="seat">
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<pose>0.0 0.0 0.62 0 0 0</pose>
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<geometry>
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<box>
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<size>0.52167 1.37206 0.53369</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<collision name="mud_seat">
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<pose>0.0 0.0 0.86 0 0 0</pose>
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<geometry>
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<box>
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<size>0.52167 1.30 0.1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_without_contact>true</collide_without_contact>
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</contact>
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</surface>
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</collision>
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<sensor name="seat_contact" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>mud_seat</collision>
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</contact>
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</sensor>
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<collision name="seat_back">
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<pose>-0.26 0.0 1.125 0.0 -0.2 0.0</pose>
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<geometry>
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<box>
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<size>0.06 1.37206 0.6</size>
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</box>
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</geometry>
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</collision>
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<collision name="engine">
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<pose>1.12 0.0 0.7 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.58 1.3 0.8</size>
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</box>
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</geometry>
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</collision>
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<visual name="cargo_visual">
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<pose>-1.0 0 1.03230 0 0 -1.5707</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Bed</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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<visual name="tailgate_visual">
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<pose>-1.492 0 1.03 0 0 -1.5707</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Tail_Gate</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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<visual name="front_left_brake_visual">
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<pose>1.12 -0.57488 0.35516 3.1415 0 1.5707</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Brake_Front_Left</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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<visual name="front_right_brake_visual">
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<pose>1.12 0.57488 0.35516 3.1415 0 1.5707</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Brake_Front_Right</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="front_left_wheel">
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<pose>1.08598 0.71003 0.35515 -1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass>
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<inertia>
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<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.34</radius>
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<length>0.23</length>
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</cylinder>
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</geometry>
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<max_contacts>1</max_contacts>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<fdir1>0 0 1</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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<contact>
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<ode>
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<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="tire_visual">
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<pose>0 0 0 3.14159 1.570796 0</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Wheel_Front_Left</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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||||
</visual>
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</link>
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<link name="front_right_wheel">
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<pose>1.08598 -0.71003 0.35515 1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass>
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||||
<inertia>
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||||
<ixx>0.5</ixx>
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||||
<ixy>0.0</ixy><iyy>0.5</iyy>
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||||
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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||||
</inertia>
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||||
</inertial>
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||||
<collision name="collision">
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<geometry>
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||||
<cylinder>
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<radius>0.34</radius>
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<length>0.23</length>
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||||
</cylinder>
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||||
</geometry>
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||||
<max_contacts>1</max_contacts>
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||||
<surface>
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||||
<friction>
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||||
<ode>
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<mu>1.0</mu>
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||||
<mu2>1.0</mu2>
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||||
<fdir1>0 0 1</fdir1>
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||||
<slip1>0.0</slip1>
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||||
<slip2>0.0</slip2>
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||||
</ode>
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||||
</friction>
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||||
<contact>
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<ode>
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||||
<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<pose>0 0 0 0 -1.570796 0</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
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<submesh>
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<name>Wheel_Front_Right</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_xp900/materials/scripts</uri>
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<uri>model://polaris_ranger_xp900/materials/textures</uri>
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<name>PolarisXP900/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="rear_left_wheel">
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<pose>-0.97752 0.71003 0.35515 -1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass>
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||||
<inertia>
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||||
<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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||||
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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||||
</inertia>
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||||
</inertial>
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||||
<collision name="collision">
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||||
<geometry>
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||||
<cylinder>
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||||
<radius>0.34</radius>
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||||
<length>0.23</length>
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||||
</cylinder>
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||||
</geometry>
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||||
<max_contacts>1</max_contacts>
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||||
<surface>
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||||
<friction>
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||||
<ode>
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||||
<mu>1.0</mu>
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||||
<mu2>1.0</mu2>
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||||
<fdir1>0 0 1</fdir1>
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||||
<slip1>0.0</slip1>
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||||
<slip2>0.0</slip2>
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||||
</ode>
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||||
</friction>
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||||
<contact>
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||||
<ode>
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||||
<min_depth>0.005</min_depth>
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||||
<kp>1e8</kp>
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||||
</ode>
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||||
</contact>
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||||
</surface>
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||||
</collision>
|
||||
|
||||
<visual name="visual">
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||||
<pose>0 0 0 0 -1.570796 0</pose>
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||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Wheels_Rear_Left</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>PolarisXP900/Diffuse</name>
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||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="rear_right_wheel">
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||||
<pose>-0.97752 -0.71003 0.35515 1.52 0.0 0.0</pose>
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||||
<inertial>
|
||||
<mass>12</mass>
|
||||
<inertia>
|
||||
<ixx>0.5</ixx>
|
||||
<ixy>0.0</ixy><iyy>0.5</iyy>
|
||||
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.34</radius>
|
||||
<length>0.23</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>1</max_contacts>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>1.0</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.005</min_depth>
|
||||
<kp>1e8</kp>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0 0 -1.570796 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Wheels_Rear_Right</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>PolarisXP900/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='gas_pedal'>
|
||||
<pose>0.63 0.10 0.58 0 0 0</pose>
|
||||
<gravity>false</gravity>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.01</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='gas_pedal_collision'>
|
||||
<pose>-0.0385 0 -0.086 0 2.016 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1069000 0.0770000 0.010000</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0 0 0 -1.5707</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Gas_Pedal</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>PolarisXP900/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='brake_pedal'>
|
||||
<gravity>false</gravity>
|
||||
<pose>0.64 0.27 0.58 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.01</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='brake_pedal_collision'>
|
||||
<pose>-0.040 0 -0.086 0 1.999 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.063 0.08 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0 0 0 -1.5707</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Brake_Pedal</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>PolarisXP900/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="front_right_wheel_steering_block">
|
||||
<pose>1.08598 -0.5 0.35515 1.570796 0.0 0.0</pose>
|
||||
<inertial>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1.0</ixx>
|
||||
<ixy>0.0</ixy><iyy>1.0</iyy>
|
||||
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.05</radius>
|
||||
<length>0.01</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="front_left_wheel_steering_block">
|
||||
<pose>1.08598 0.5 0.35515 1.570796 0.0 0.0</pose>
|
||||
<inertial>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1.0</ixx>
|
||||
<ixy>0.0</ixy><iyy>1.0</iyy>
|
||||
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.05</radius>
|
||||
<length>0.01</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name='steering_wheel'>
|
||||
<pose>0.42 0.46 1.20 0 -0.87 0</pose>
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
<pose>-0.002 0 0 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.012</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.012</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.024</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<collision name="collision">
|
||||
<pose>0 -0.035 -0.120825 -0.6108 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Steering_Wheel</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.003</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<pose>0 -0.035 -0.120825 -0.6108 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Steering_Wheel</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>PolarisXP900/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='hand_brake'>
|
||||
<!--pose>0.50 0.00 1.05 0.0 3.2 0.0</pose-->
|
||||
<pose>0.53 0.205 1.05 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="hand_brake_collision">
|
||||
<!--pose>0 0 -0.10 0 0 0</pose-->
|
||||
<pose>0 0 0.05 -0.2 0 -1.570796</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Shifter</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
<!--cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.2</length>
|
||||
</cylinder-->
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="hand_brake_visual">
|
||||
<!--pose>0 0 -0.10 0 0 0</pose-->
|
||||
<pose>0 0 0.05 -0.2 0 -1.570796</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://polaris_ranger_xp900/meshes/polaris.dae</uri>
|
||||
<submesh>
|
||||
<name>Shifter</name>
|
||||
<center>true</center>
|
||||
</submesh>
|
||||
</mesh>
|
||||
<!--cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.2</length>
|
||||
</cylinder-->
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://polaris_ranger_xp900/materials/scripts</uri>
|
||||
<uri>model://polaris_ranger_xp900/materials/textures</uri>
|
||||
<name>Polaris/Diffuse</name>
|
||||
</script>
|
||||
<!--script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script-->
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='FNR_switch'>
|
||||
<pose>0.54 0.1 1.15 0 0.25 0</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.00006</iyy>
|
||||
<iyz>0</iyz>
|
||||
<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">
|
||||
<transparency>0.0</transparency>
|
||||
<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">
|
||||
<transparency>1.0</transparency>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.0199 0.0399 0.0799</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">
|
||||
<child>front_left_wheel_steering_block</child>
|
||||
<parent>chassis</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.8727</lower>
|
||||
<upper>0.8727</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>50.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
<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 0.05</xyz>
|
||||
</axis>
|
||||
</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>-0.8727</lower>
|
||||
<upper>0.8727</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>50.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
<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 -0.05</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint type="revolute" name="rear_left_wheel_joint">
|
||||
<child>rear_left_wheel</child>
|
||||
<parent>chassis</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0.05</xyz>
|
||||
</axis>
|
||||
</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 -0.05</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="rear_differential_joint">
|
||||
<child>rear_right_wheel</child>
|
||||
<parent>rear_left_wheel</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<dynamics>
|
||||
<damping>70</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<erp>0</erp>
|
||||
<cfm>1000</cfm>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
|
||||
<joint name='gas_joint' type='prismatic'>
|
||||
<parent>chassis</parent>
|
||||
<child>gas_pedal</child>
|
||||
<axis>
|
||||
<xyz>1.000000 0.000000 -1.000000</xyz>
|
||||
<limit>
|
||||
<lower>0.00</lower>
|
||||
<upper>0.08</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>3.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='brake_joint' type='prismatic'>
|
||||
<parent>chassis</parent>
|
||||
<child>brake_pedal</child>
|
||||
<axis>
|
||||
<xyz>1.000000 0.000000 -0.600000</xyz>
|
||||
<limit>
|
||||
<lower>0.00</lower>
|
||||
<upper>0.08</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>3.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='steering_joint' type='revolute'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<parent>chassis</parent>
|
||||
<child>steering_wheel</child>
|
||||
<axis>
|
||||
<xyz>-1 0 0.84365</xyz>
|
||||
<limit>
|
||||
<lower>-3.14</lower>
|
||||
<upper>3.14</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
|
||||
<joint name='hand_brake_joint' type='revolute'>
|
||||
<parent>chassis</parent>
|
||||
<child>hand_brake</child>
|
||||
<axis>
|
||||
<xyz>0.0 -1.0 0.0</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0.6</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.0</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</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>0.01</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<cfm_damping>1</cfm_damping>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
Loading…
Reference in New Issue
Block a user