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Tweak parameters on polaris

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This commit is contained in:
Steve Peters 2012-12-18 18:39:50 -08:00
parent 23fe4e5138
commit b288bab0c5
1 changed files with 23 additions and 23 deletions
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46
polaris_ranger_ev/model-1_3.sdf
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@ -7,7 +7,7 @@
</inertial>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 0 -1.5708</pose>
<pose>0 0 0 0 0 -1.570796</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@ -31,34 +31,34 @@
</geometry>
</collision>
<collision name="cargo_front">
<pose>-0.45 0.0 1.025 0.0 1.5708 0.0</pose>
<pose>-0.45 0.0 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.25 1.2 0.05</size>
<size>0.05 1.2 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_back">
<pose>-1.35 0.0 1.025 0.0 1.5708 0.0</pose>
<pose>-1.35 0.0 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.25 1.2 0.05</size>
<size>0.05 1.2 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_left">
<pose>-0.9 0.6 1.025 1.5708 1.5708 0.0</pose>
<pose>-0.9 0.6 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.25 0.9 0.05</size>
<size>0.9 0.05 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_right">
<pose>-0.9 -0.6 1.025 1.5708 1.5708 0.0</pose>
<pose>-0.9 -0.6 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.25 0.9 0.05</size>
<size>0.9 0.05 0.25</size>
</box>
</geometry>
</collision>
@ -96,7 +96,7 @@
</geometry>
</collision>
<collision name="steering_wheel_post_left">
<pose>0.37 0.38 1.2 1.5708 -0.8 0.0</pose>
<pose>0.37 0.38 1.2 1.570796 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
@ -105,7 +105,7 @@
</geometry>
</collision>
<collision name="steering_wheel_post_right">
<pose>0.37 0.23 1.2 1.5708 -0.8 0.0</pose>
<pose>0.37 0.23 1.2 1.570796 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
@ -124,15 +124,15 @@
</collision>
</link>
<link name="rear_right_wheel">
<pose>-0.85 -0.675 0.3 1.5708 0.0 0.0</pose>
<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.2</length>
<radius>0.32</radius>
<length>0.23</length>
</cylinder>
</geometry>
<surface>
@ -156,15 +156,15 @@
</axis>
</joint>
<link name="rear_left_wheel">
<pose>-0.85 0.575 0.3 1.5708 0.0 0.0</pose>
<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.2</length>
<radius>0.32</radius>
<length>0.23</length>
</cylinder>
</geometry>
<surface>
@ -188,15 +188,15 @@
</axis>
</joint>
<link name="front_right_wheel">
<pose>1.03 -0.55 0.3 1.5708 0.0 0.0</pose>
<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.2</length>
<radius>0.32</radius>
<length>0.23</length>
</cylinder>
</geometry>
<surface>
@ -220,15 +220,15 @@
</axis>
</joint>
<link name="front_left_wheel">
<pose>1.03 0.65 0.3 1.5708 0.0 0.0</pose>
<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.2</length>
<radius>0.32</radius>
<length>0.23</length>
</cylinder>
</geometry>
<surface>