gazebo_models/polaris_ranger_ev/model-1_3.sdf

<?xml version="1.0"?>
<sdf version="1.3">
  <model name="Polaris Ranger EV">
    <link name="chassis">
      <inertial>
        <mass>500.0</mass>
      </inertial>
      <visual name="visual">
        <!-- rotate mesh to get to X-forward -->
        <pose>0 0 0 0 0 -1.507</pose>
        <geometry>
          <mesh>
            <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="chassis_bottom">
        <pose>0.0 0.0 0.3 0.0 0.0 0.0</pose> 
        <geometry>
          <box>
            <size>2.0 1.0 0.01</size>
          </box>
        </geometry>
      </collision>
    </link>
    <link name="rear_right_wheel">
      <pose>-0.85 -0.675 0.3 1.5708 0.0 0.0</pose>
      <inertial>
        <mass>0.5</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.2</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>
    </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>
    </joint>
    <link name="rear_left_wheel">
      <pose>-0.85 0.575 0.3 1.5708 0.0 0.0</pose>
      <inertial>
        <mass>0.5</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.2</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>
    </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>
    </joint>
    <link name="front_right_wheel">
      <pose>1.03 -0.55 0.3 1.5708 0.0 0.0</pose>
      <inertial>
        <mass>0.5</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.2</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>
    </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>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
    <link name="front_left_wheel">
      <pose>1.03 0.65 0.3 1.5708 0.0 0.0</pose>
      <inertial>
        <mass>0.5</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.2</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>
    </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>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
  </model>
</sdf>