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Fix steering wheel axis and submesh alignment

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Steve Peters 2013-04-24 11:46:21 -07:00
parent 2ed186a862
commit b5c7696d5a
1 changed files with 17 additions and 7 deletions
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24
polaris_ranger_ev/model.sdf
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@ -313,6 +313,16 @@
</material> </material>
</visual> </visual>
--> -->
<!-- the following was used as a guide for aligning the steering wheel mesh -->
<!--visual name="visual_steering_cylinder">
<pose>0.35 0.30 1.3 0 -0.87 0</pose>
<geometry>
<cylinder>
<radius>0.17</radius>
<length>0.01</length>
</cylinder>
</geometry>
</visual-->
</link> </link>
<link name="rear_right_wheel"> <link name="rear_right_wheel">
<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose> <pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
@ -642,7 +652,7 @@
</link> </link>
<link name='steering_wheel'> <link name='steering_wheel'>
<pose>0.37 0.30 1.3 0 -0.8 0</pose> <pose>0.34 0.30 1.29 0 -0.87 0</pose>
<inertial> <inertial>
<mass>1.0</mass> <mass>1.0</mass>
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
@ -660,7 +670,7 @@
<collision name="collision"> <collision name="collision">
<!-- rotate mesh to get to X-forward --> <!-- rotate mesh to get to X-forward -->
<pose>0 0 0 -0.8 0 -1.570796</pose> <pose>0 0 0 -0.69 0 -1.570796</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri> <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@ -674,7 +684,7 @@
<visual name="visual"> <visual name="visual">
<!-- rotate mesh to get to X-forward --> <!-- rotate mesh to get to X-forward -->
<pose>0 0 0 -0.8 0 -1.570796</pose> <pose>0 0 0 -0.69 0 -1.570796</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri> <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@ -826,14 +836,14 @@
</axis> </axis>
</joint> </joint>
<joint name='steering_joint' type='revolute'> <joint name='steering_joint' type='revolute'>
<pose>0 0 0 1.570796 -0.8 0.0</pose> <pose>-0.002 0 0 0 0 0</pose>
<parent>chassis</parent> <parent>chassis</parent>
<child>steering_wheel</child> <child>steering_wheel</child>
<axis> <axis>
<xyz>-1 0 1.023</xyz> <xyz>-1 0 0.84365</xyz>
<limit> <limit>
<lower>-7.853000</lower> <lower>-3.14</lower>
<upper>7.853000</upper> <upper>3.14</upper>
</limit> </limit>
</axis> </axis>
</joint> </joint>