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Added front wheel steering joints, probably unrealistic kinematics

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This commit is contained in:
Steve Peters 2013-01-07 14:21:05 -08:00
parent f266a8aee9
commit 81187a1055
1 changed files with 88 additions and 7 deletions
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95
polaris_ranger_ev/model-1_3.sdf
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@ -166,6 +166,10 @@
<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">
<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
@ -197,12 +201,15 @@
</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>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint>
<link name="front_right_wheel">
<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
@ -233,13 +240,50 @@
</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>
<link name="front_right_wheel_steering_block">
<pose>1.03 -0.5 0.32 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>
<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">
<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
@ -270,13 +314,50 @@
</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>
<link name="front_left_wheel_steering_block">
<pose>1.03 0.5 0.32 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>
<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>
</model>
</sdf>