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Quella777
2025-08-25 16:30:02 +08:00
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prius_hybrid/materials/textures/Hybrid_Interior.png Normal file
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prius_hybrid/meshes/Hybrid.mtl Normal file
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# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
# File Created: 10.01.2017 19:57:05
newmtl Hybrid
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.5882 0.5882 0.5882
Kd 0.5882 0.5882 0.5882
Ks 1.0000 1.0000 1.0000
Ke 0.0000 0.0000 0.0000
map_Ka ../materials/textures/Hybrid.png
map_Kd ../materials/textures/Hybrid.png
newmtl Wheels3
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.5882 0.5882 0.5882
Kd 0.5882 0.5882 0.5882
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka ../materials/textures/Wheels3.png
map_Kd ../materials/textures/Wheels3.png
newmtl Hybrid_Interior
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.5882 0.5882 0.5882
Kd 0.5882 0.5882 0.5882
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka ../materials/textures/Hybrid_Interior.png
map_Kd ../materials/textures/Hybrid_Interior.png
newmtl Windows
Ns 0.0000
Ni 1.5000
d 0.1000
Tr 0.9000
Tf 0.1000 0.1000 0.1000
illum 2
Ka 0.2627 0.2627 0.2627
Kd 0.2627 0.2627 0.2627
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000

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prius_hybrid/meshes/Hybrid.obj Normal file
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prius_hybrid/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Prius Hybrid</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Ian Chen</name>
<email>iche033@osrfoundation.org</email>
</author>
<description>
Toyota Prius Hybrid
</description>
</model>

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prius_hybrid/model.sdf Normal file
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<?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>