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11c5a4358f
gazebo_models/polaris_ranger_ev/model-1_3.sdf
Nate Koenig 11c5a4358f udpate to use submeshes
2013-03-19 16:16:21 -07:00

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<?xml version="1.0"?>
<sdf version="1.3">
<model name="polaris_ranger_ev">
<link name="chassis">
<inertial>
<!-- subtracted wheel weights from dry weight of 771 kg -->
<!-- http://www.polaris.com/en-us/ranger-utv/side-by-sides/ranger-ev/specifications -->
<mass>720.0</mass>
<inertia>
<ixx>140</ixx>
<ixy>0.0</ixy><iyy>550</iyy>
<ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
</inertia>
</inertial>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 0 -1.570796</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Ranger</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
<collision name="chassis_bottom">
<pose>0.0 0.0 0.35 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>2.0 1.0 0.1</size>
</box>
</geometry>
</collision>
<collision name="cargo_bottom">
<pose>-0.9 0.0 0.9 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.9 1.2 0.01</size>
</box>
</geometry>
</collision>
<collision name="cargo_front">
<pose>-0.45 0.0 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.05 1.2 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_back">
<pose>-1.35 0.0 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.05 1.2 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_left">
<pose>-0.9 0.6 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.9 0.05 0.25</size>
</box>
</geometry>
</collision>
<collision name="cargo_right">
<pose>-0.9 -0.6 1.025 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.9 0.05 0.25</size>
</box>
</geometry>
</collision>
<collision name="seat">
<pose>-0.1 0.0 0.625 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.6 1.0 0.55</size>
</box>
</geometry>
</collision>
<collision name="seat_back">
<pose>-0.3 0.0 1.125 0.0 -0.2 0.0</pose>
<geometry>
<box>
<size>0.06 1.0 0.4</size>
</box>
</geometry>
</collision>
<collision name="engine">
<pose>0.95 0.0 0.7 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.58 1.0 0.8</size>
</box>
</geometry>
</collision>
<!-- Begin simple collision shapes for entry/exit handles -->
<collision name="handle_left_top">
<pose>-0.23 0.61 1.175 0 -1.32 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<collision name="handle_left_bottom">
<pose>-0.20 0.61 0.98 0 -1.40 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<collision name="handle_left_middle">
<pose>-0.10 0.61 1.055 0 -0.20 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.20</length>
</cylinder>
</geometry>
</collision>
<collision name="handle_right_top">
<pose>-0.23 -0.61 1.175 0 -1.32 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<collision name="handle_right_bottom">
<pose>-0.20 -0.61 0.98 0 -1.40 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.25</length>
</cylinder>
</geometry>
</collision>
<collision name="handle_right_middle">
<pose>-0.10 -0.61 1.055 0 -0.20 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.20</length>
</cylinder>
</geometry>
</collision>
<!-- End simple collision shapes for entry/exit handles -->
<!-- Begin simple collision shapes for roll cage -->
<collision name="rollcage_top_left">
<pose>0.0 0.61 1.92 0 1.61 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.68</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_top_right">
<pose>0.0 -0.61 1.92 0 1.61 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.68</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_top_front">
<pose>0.325 0.0 1.89 1.570796 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.22</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_top_back">
<pose>-0.330 0.0 1.92 1.570796 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.22</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_front_left">
<pose>0.54 0.61 1.45 0 -0.44 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.04</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_front_right">
<pose>0.54 -0.61 1.45 0 -0.44 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.04</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_left">
<pose>-0.37 0.61 1.25 0 -0.14 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.90</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_right">
<pose>-0.37 -0.61 1.25 0 -0.14 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.90</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_midleft">
<pose>-0.37 0.155 1.25 0 -0.14 0</pose>
<geometry>
<cylinder>
<radius>0.023</radius>
<length>0.90</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_midright">
<pose>-0.37 -0.155 1.25 0 -0.14 0</pose>
<geometry>
<cylinder>
<radius>0.023</radius>
<length>0.90</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_upper_left">
<pose>-0.38 0.61 1.82 0 0.40 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.29</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_upper_right">
<pose>-0.38 -0.61 1.82 0 0.40 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>0.29</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_upper_midleft">
<pose>-0.38 0.155 1.82 0 0.40 0</pose>
<geometry>
<cylinder>
<radius>0.023</radius>
<length>0.29</length>
</cylinder>
</geometry>
</collision>
<collision name="rollcage_back_upper_midright">
<pose>-0.38 -0.155 1.82 0 0.40 0</pose>
<geometry>
<cylinder>
<radius>0.023</radius>
<length>0.29</length>
</cylinder>
</geometry>
</collision>
<!-- End simple collision shapes for roll cage -->
<!--<collision name="steering_column">
<pose>0.525 0.3 1.125 0.0 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.45</length>
</cylinder>
</geometry>
</collision>
<visual name="steering_column_visual">
<pose>0.525 0.3 1.125 0.0 -0.8 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.45</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
-->
</link>
<link name="rear_right_wheel">
<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
<inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<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>0.32</radius>
<length>0.23</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>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 -1.570796 0</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Rear_Wheel_Right</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</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>
<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>
<inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<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>0.32</radius>
<length>0.23</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>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 -1.570796 0</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Rear_Wheel_Left</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="rear_left_wheel_joint">
<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>
<inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<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>0.32</radius>
<length>0.23</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>
<visual name="visual">
<pose>0 0 0 0 -1.570796 0</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Front_Wheel_Right</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<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>
<inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<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>0.32</radius>
<length>0.23</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>
<visual name="visual">
<pose>0 0 0 0 -1.570796 0</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Front_Wheel_Left</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<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>
<!-- gas/brake pedals, steering wheel and hand brake -->
<link name='gas_pedal'>
<pose>0.53 0.14 0.56 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">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 0 -1.5707</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Pedal_Gas</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<link name='brake_pedal'>
<gravity>false</gravity>
<pose>0.54 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">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 0 0 -1.5707</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Pedal_brake</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<link name='steering_wheel'>
<pose>0.37 0.30 1.3 0 -0.8 0</pose>
<inertial>
<mass>1.0</mass>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<velocity_decay>0.1</velocity_decay>
<collision name="collision">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 -0.8 0 -1.570796</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Steering_Wheel</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
</collision>
<visual name="visual">
<!-- rotate mesh to get to X-forward -->
<pose>0 0 0 -0.8 0 -1.570796</pose>
<geometry>
<mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
<submesh>
<name>Steering_Wheel</name>
<center>true</center>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://polaris_ranger_ev/materials/scripts</uri>
<uri>model://polaris_ranger_ev/materials/textures</uri>
<name>Polaris/Diffuse</name>
</script>
</material>
</visual>
</link>
<link name='hand_brake'>
<pose>0.50 0.00 1.05 0.0 3.2 0.0</pose>
<inertial>
<mass>1.0</mass>
<pose>0 0 -0.15 0 0 0</pose>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<collision name="hand_brake_collision">
<pose>0 0 -0.10 0 0 0</pose>
<geometry>
<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>
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
<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>0.15</upper>
</limit>
</axis>
</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>0.15</upper>
</limit>
</axis>
</joint>
<joint name='steering_joint' type='revolute'>
<pose>0 0 0 1.570796 -0.8 0.0</pose>
<parent>chassis</parent>
<child>steering_wheel</child>
<axis>
<xyz>-1 0 1.023</xyz>
<limit>
<lower>-7.853000</lower>
<upper>7.853000</upper>
</limit>
</axis>
</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>
</axis>
</joint>
</model>
</sdf>
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