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 -1.5708</pose>
        <geometry>
          <mesh>
            <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
          </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 1.5708 0.0</pose> 
        <geometry>
          <box>
            <size>0.25 1.2 0.05</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_back">
        <pose>-1.35 0.0 1.025 0.0 1.5708 0.0</pose> 
        <geometry>
          <box>
            <size>0.25 1.2 0.05</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_left">
        <pose>-0.9 0.6 1.025 1.5708 1.5708 0.0</pose> 
        <geometry>
          <box>
            <size>0.25 0.9 0.05</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_right">
        <pose>-0.9 -0.6 1.025 1.5708 1.5708 0.0</pose> 
        <geometry>
          <box>
            <size>0.25 0.9 0.05</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 0.65</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>0.1 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>0.75 1.0 0.8</size>
          </box>
        </geometry>
      </collision>
      <collision name="steering_column">
        <pose>0.525 0.3 1.025 0.0 -0.8 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.45</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="steering_wheel_post_left">
        <pose>0.37 0.38 1.2 1.5708 -0.8 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.02</radius>
            <length>0.15</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="steering_wheel_post_right">
        <pose>0.37 0.23 1.2 1.5708 -0.8 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.02</radius>
            <length>0.15</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="steering_wheel_post_middle">
        <pose>0.325 0.305 1.15 0.0 -2.3708 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.02</radius>
            <length>0.15</length>
          </cylinder>
        </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>