532 lines
13 KiB
Plaintext
532 lines
13 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.6">
|
||
|
|
<model name="prius_hybrid">
|
||
|
|
<pose>0 0 0.03 0 0 0</pose>
|
||
|
|
<link name="chassis">
|
||
|
|
<inertial>
|
||
|
|
<mass>1326.0</mass>
|
||
|
|
<pose>0 -0.266 0.48 0 0 0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>2581.13354740</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>591.30846112</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>2681.95008628</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual name="chassis_visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Hybrid</name>
|
||
|
|
<center>false</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name="interior_visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Hybrid_Interior</name>
|
||
|
|
<center>false</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name="windows_visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Hybrid_Windows</name>
|
||
|
|
<center>false</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="chassis">
|
||
|
|
<pose>0.0 0.05 0.625 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.7526 2.1 0.95</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="front_bumper">
|
||
|
|
<pose>0.0 -2.0 0.458488 0.0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.337282 0.48 0.566691</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="hood">
|
||
|
|
<pose>0.0 -1.900842 0.676305 0.341247 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.597968 0.493107 0.265468</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="windshield">
|
||
|
|
<pose>0.0 -0.875105 1.032268 0.335476 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.168381 1.654253 0.272347</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="top_front">
|
||
|
|
<pose>0.0 0.161236 1.386042 0.135030 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.279154 0.625988 0.171868</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="top_rear">
|
||
|
|
<pose>0.0 0.817696 1.360069 -0.068997 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.285130 0.771189 0.226557</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="rear_window">
|
||
|
|
<pose>0.0 1.640531 1.175126 -0.262017 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.267845 1.116344 0.244286</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="trunk">
|
||
|
|
<pose>0.0 1.637059 0.888180 0.0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.788064 1.138988 0.482746</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="back_bumper">
|
||
|
|
<pose>0.0 2.054454 0.577870 0.0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1.781650 0.512093 0.581427</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="steering_wheel">
|
||
|
|
<pose>0.357734 -0.627868 0.988243 -1.302101 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.14583300</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.14583300</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.12500000</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.178172</radius>
|
||
|
|
<length>0.041845</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.003</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0 0 0 1.302101 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Steering_Wheel</name>
|
||
|
|
<center>true</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="front_left_wheel">
|
||
|
|
<pose>0.76 -1.41 0.3 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>11</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.58631238</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>0.33552910</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.33552910</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.04 0.0 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Wheel_Front_Left_</name>
|
||
|
|
<center>true</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.31265</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.9</mu>
|
||
|
|
<mu2>0.9</mu2>
|
||
|
|
<slip1>0.0</slip1>
|
||
|
|
<slip2>0.0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
<kp>1e9</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="front_right_wheel">
|
||
|
|
<pose>-0.76 -1.41 0.3 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>11</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.58631238</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>0.33552910</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.33552910</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>-0.04 0.0 0.0 0 0 0</pose>
|
||
|
|
<pose>0 0 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Wheel_Front_Right</name>
|
||
|
|
<center>true</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.31265</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>0.9</mu>
|
||
|
|
<mu2>0.9</mu2>
|
||
|
|
<slip1>0.0</slip1>
|
||
|
|
<slip2>0.0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
<kp>1e9</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
|
||
|
|
<link name="rear_left_wheel">
|
||
|
|
<pose>0.786 1.45 0.3 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>11</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.58631238</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>0.33552910</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.33552910</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.04 0.0 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Wheel_Front_Left_</name>
|
||
|
|
<center>true</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.31265</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.1</mu>
|
||
|
|
<mu2>1.1</mu2>
|
||
|
|
<slip1>0.0</slip1>
|
||
|
|
<slip2>0.0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
<kp>1e9</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="rear_right_wheel">
|
||
|
|
<pose>-0.786 1.45 0.3 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>11</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.58631238</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>0.33552910</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.33552910</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>-0.04 0.0 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
|
||
|
|
<scale>0.01 0.01 0.01</scale>
|
||
|
|
<submesh>
|
||
|
|
<name>Wheel_Front_Right</name>
|
||
|
|
<center>true</center>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.31265</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.1</mu>
|
||
|
|
<mu2>1.1</mu2>
|
||
|
|
<slip1>0.0</slip1>
|
||
|
|
<slip2>0.0</slip2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
<kp>1e9</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint type="universal" name="front_left_combined_joint">
|
||
|
|
<pose>0 0 0 -0.08726646259971647 0 0</pose>
|
||
|
|
<child>front_left_wheel</child>
|
||
|
|
<parent>chassis</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<!-- +- 50 degrees -->
|
||
|
|
<lower>-0.8727</lower>
|
||
|
|
<upper>0.8727</upper>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<friction>18.0474092253</friction>
|
||
|
|
</dynamics>
|
||
|
|
</axis2>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint type="universal" name="front_right_combined_joint">
|
||
|
|
<pose>0 0 0 -0.08726646259971647 0 0</pose>
|
||
|
|
<child>front_right_wheel</child>
|
||
|
|
<parent>chassis</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<!-- +- 50 degrees -->
|
||
|
|
<lower>-0.8727</lower>
|
||
|
|
<upper>0.8727</upper>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<friction>18.0474092253</friction>
|
||
|
|
</dynamics>
|
||
|
|
</axis2>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="rear_axle">
|
||
|
|
<pose>0 1.45 0.3 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>30.0</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.08437499999999999</ixx>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<iyy>4.64581</iyy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>4.64581</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>1.357</length>
|
||
|
|
<radius>0.075</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint type="revolute" name="rear_axle_joint">
|
||
|
|
<child>rear_axle</child>
|
||
|
|
<parent>chassis</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.05089058524173028</lower>
|
||
|
|
<upper>0.05089058524173028</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<spring_stiffness>20000.0</spring_stiffness>
|
||
|
|
<damping>2000.0</damping>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint type="revolute" name="rear_left_wheel_joint">
|
||
|
|
<child>rear_left_wheel</child>
|
||
|
|
<parent>rear_axle</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<friction>12.031606150200002</friction>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint type="revolute" name="rear_right_wheel_joint">
|
||
|
|
<child>rear_right_wheel</child>
|
||
|
|
<parent>rear_axle</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
<dynamics>
|
||
|
|
<friction>12.031606150200002</friction>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<joint name="steering_joint" type="revolute">
|
||
|
|
<pose>-0.002 0 0 0 0 0</pose>
|
||
|
|
<parent>chassis</parent>
|
||
|
|
<child>steering_wheel</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0.964095 0.265556</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-7.85</lower>
|
||
|
|
<upper>7.85</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1.0</damping>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
</sdf>
|