mirror of
https://github.com/osrf/gazebo_models.git
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364 lines
10 KiB
XML
364 lines
10 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.3">
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<model name="Polaris Ranger EV">
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<link name="chassis">
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<inertial>
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<!-- subtracted wheel weights from dry weight of 771 kg -->
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<!-- http://www.polaris.com/en-us/ranger-utv/side-by-sides/ranger-ev/specifications -->
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<mass>720.0</mass>
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<inertia>
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<ixx>140</ixx>
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<ixy>0.0</ixy><iyy>550</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<!-- rotate mesh to get to X-forward -->
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<pose>0 0 0 0 0 -1.570796</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="chassis_bottom">
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<pose>0.0 0.0 0.35 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>2.0 1.0 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_bottom">
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<pose>-0.9 0.0 0.9 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.9 1.2 0.01</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_front">
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<pose>-0.45 0.0 1.025 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.05 1.2 0.25</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_back">
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<pose>-1.35 0.0 1.025 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.05 1.2 0.25</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_left">
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<pose>-0.9 0.6 1.025 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.9 0.05 0.25</size>
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</box>
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</geometry>
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</collision>
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<collision name="cargo_right">
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<pose>-0.9 -0.6 1.025 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.9 0.05 0.25</size>
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</box>
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</geometry>
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</collision>
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<collision name="seat">
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<pose>-0.1 0.0 0.625 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.6 1.0 0.65</size>
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</box>
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</geometry>
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</collision>
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<collision name="seat_back">
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<pose>-0.3 0.0 1.125 0.0 -0.2 0.0</pose>
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<geometry>
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<box>
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<size>0.1 1.0 0.4</size>
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</box>
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</geometry>
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</collision>
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<collision name="engine">
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<pose>0.95 0.0 0.7 0.0 0.0 0.0</pose>
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<geometry>
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<box>
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<size>0.75 1.0 0.8</size>
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</box>
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</geometry>
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</collision>
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<collision name="steering_column">
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<pose>0.525 0.3 1.025 0.0 -0.8 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.45</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="steering_wheel_post_left">
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<pose>0.37 0.38 1.2 1.570796 -0.8 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>0.15</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="steering_wheel_post_right">
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<pose>0.37 0.23 1.2 1.570796 -0.8 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>0.15</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="steering_wheel_post_middle">
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<pose>0.325 0.305 1.15 0.0 -2.3708 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>0.15</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<link name="rear_right_wheel">
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<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.32</radius>
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<length>0.23</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<joint type="revolute" name="rear_right_wheel_joint">
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<pose>0.0 0.0 -0.1 0 0 0</pose>
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<child>rear_right_wheel</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<link name="rear_left_wheel">
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<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.32</radius>
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<length>0.23</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<joint type="revolute" name="rear_left_wheel_joint">
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<child>rear_left_wheel</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<link name="front_right_wheel">
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<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.32</radius>
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<length>0.23</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<link name="front_right_wheel_steering_block">
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<pose>1.03 -0.5 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy><iyy>1.0</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<joint type="revolute" name="front_right_steering_joint">
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<child>front_right_wheel_steering_block</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1.0</lower>
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<upper>1.0</upper>
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</limit>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<joint type="revolute" name="front_right_wheel_joint">
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<child>front_right_wheel</child>
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<parent>front_right_wheel_steering_block</parent>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<link name="front_left_wheel">
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<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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<ixx>0.5</ixx>
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<ixy>0.0</ixy><iyy>0.5</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.32</radius>
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<length>0.23</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<link name="front_left_wheel_steering_block">
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<pose>1.03 0.5 0.32 1.570796 0.0 0.0</pose>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0.0</ixy><iyy>1.0</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<joint type="revolute" name="front_left_steering_joint">
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<child>front_left_wheel_steering_block</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1.0</lower>
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<upper>1.0</upper>
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</limit>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<joint type="revolute" name="front_left_wheel_joint">
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<child>front_left_wheel</child>
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<parent>front_left_wheel_steering_block</parent>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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</model>
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</sdf>
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