1125 lines
31 KiB
XML
1125 lines
31 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.4">
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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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<!-- chassis c.o.g. near lateral/longitudinal center, height of 0.4 m -->
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<pose>0.1 0 0.4 0 0 0</pose>
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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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<submesh>
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<name>Ranger</name>
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<center>false</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_ev/materials/scripts</uri>
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<uri>model://polaris_ranger_ev/materials/textures</uri>
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<name>Polaris/Diffuse</name>
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</script>
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</material>
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</visual>
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<collision name="chassis_bottom">
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<pose>0.1 0.0 0.37 0 0 0</pose>
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<geometry>
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<box>
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<size>1.5 1.34 0.06</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 0.560 0 0 0</pose>
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<geometry>
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<box>
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<size>0.6 1.22 0.50</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<collision name="mud_seat">
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<pose>-0.1 0.0 0.81 0 0 0</pose>
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<geometry>
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<box>
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<size>0.6 1.15 0.1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_without_contact>true</collide_without_contact>
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</contact>
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</surface>
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</collision>
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<sensor name="seat_contact" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>mud_seat</collision>
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</contact>
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</sensor>
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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>0.06 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>1.05 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>0.58 1.0 0.8</size>
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</box>
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</geometry>
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</collision>
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<!-- Begin simple collision shapes for entry/exit handles -->
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<!--collision name="handle_left_top">
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<pose>-0.23 0.61 1.175 0 -1.32 0</pose>
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<geometry>
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<cylinder>
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<radius>0.015</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="handle_left_bottom">
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<pose>-0.20 0.61 0.98 0 -1.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.015</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</collision-->
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<collision name="handle_left_middle">
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<pose>-0.30 0.61 1.055 0 -0.20 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>0.17</length>
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</cylinder>
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</geometry>
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</collision>
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<!--collision name="handle_right_top">
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<pose>-0.23 -0.61 1.175 0 -1.32 0</pose>
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<geometry>
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<cylinder>
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<radius>0.015</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="handle_right_bottom">
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<pose>-0.20 -0.61 0.98 0 -1.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.015</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</collision-->
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<collision name="handle_right_middle">
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<pose>-0.30 -0.61 1.055 0 -0.20 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>0.17</length>
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</cylinder>
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</geometry>
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</collision>
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<!-- End simple collision shapes for entry/exit handles -->
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<!-- Begin simple collision shapes for roll cage -->
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<collision name="rollcage_top_left">
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<pose>0.0 0.61 1.92 0 1.61 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.68</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_top_right">
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<pose>0.0 -0.61 1.92 0 1.61 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.68</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_top_front">
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<pose>0.325 0.0 1.89 1.570796 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>1.22</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_top_back">
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<pose>-0.330 0.0 1.92 1.570796 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>1.22</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_front_left">
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<pose>0.54 0.61 1.45 0 -0.44 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>1.04</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_front_right">
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<pose>0.54 -0.61 1.45 0 -0.44 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>1.04</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="fender_front_right">
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<pose>0.64 -0.61 0.70 0 0.35 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.72</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="fender_front_left">
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<pose>0.64 0.61 0.70 0 0.35 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.72</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_left">
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<pose>-0.37 0.61 1.25 0 -0.14 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.90</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_right">
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<pose>-0.37 -0.61 1.25 0 -0.14 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.90</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_midleft">
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<pose>-0.37 0.155 1.25 0 -0.14 0</pose>
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<geometry>
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<cylinder>
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<radius>0.023</radius>
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<length>0.90</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_midright">
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<pose>-0.37 -0.155 1.25 0 -0.14 0</pose>
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<geometry>
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<cylinder>
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<radius>0.023</radius>
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<length>0.90</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_upper_left">
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<pose>-0.38 0.61 1.82 0 0.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.29</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_upper_right">
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<pose>-0.38 -0.61 1.82 0 0.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.29</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_upper_midleft">
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<pose>-0.38 0.155 1.82 0 0.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.023</radius>
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<length>0.29</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="rollcage_back_upper_midright">
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<pose>-0.38 -0.155 1.82 0 0.40 0</pose>
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<geometry>
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<cylinder>
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<radius>0.023</radius>
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<length>0.29</length>
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</cylinder>
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</geometry>
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</collision>
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<!-- End simple collision shapes for roll cage -->
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<!--<collision name="steering_column">
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<pose>0.525 0.3 1.125 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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<visual name="steering_column_visual">
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<pose>0.525 0.3 1.125 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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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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-->
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<!-- the following was used as a guide for aligning the steering wheel mesh -->
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<!--visual name="visual_steering_cylinder">
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<pose>0.35 0.30 1.3 0 -0.87 0</pose>
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<geometry>
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<cylinder>
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<radius>0.17</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</visual-->
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</link>
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<!--plugin name="seat_mud" filename="libMudPlugin.so">
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<contact_sensor_name>chassis/seat_contact</contact_sensor_name>
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<stiffness>0.0</stiffness>
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<damping>100.0</damping>
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<link_name>atlas::pelvis</link_name>
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</plugin-->
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<link name="rear_right_wheel">
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<pose>-0.85 -0.6 0.32 1.52 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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<max_contacts>1</max_contacts>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<fdir1>0 0 1</fdir1>
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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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<contact>
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<ode>
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<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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</ode>
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</contact>
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</surface>
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</collision>
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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 -1.570796 0</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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<submesh>
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<name>Rear_Wheel_Right</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_ev/materials/scripts</uri>
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<uri>model://polaris_ranger_ev/materials/textures</uri>
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<name>Polaris/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="rear_left_wheel">
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<pose>-0.85 0.6 0.32 -1.52 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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<max_contacts>1</max_contacts>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<fdir1>0 0 1</fdir1>
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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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<contact>
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<ode>
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<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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</ode>
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</contact>
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</surface>
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</collision>
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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 -1.570796 0</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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<submesh>
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<name>Rear_Wheel_Left</name>
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<center>true</center>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://polaris_ranger_ev/materials/scripts</uri>
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<uri>model://polaris_ranger_ev/materials/textures</uri>
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<name>Polaris/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="front_right_wheel">
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<pose>1.03 -0.6 0.32 1.52 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>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0.0</ixy><iyy>0.5</iyy>
|
|
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.32</radius>
|
|
<length>0.23</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<max_contacts>1</max_contacts>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0.0</slip1>
|
|
<slip2>0.0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
<kp>1e8</kp>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
|
|
<visual name="visual">
|
|
<pose>0 0 0 0 -1.570796 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Front_Wheel_Right</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</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>
|
|
</link>
|
|
|
|
<link name="front_right_wheel_steering_block">
|
|
<pose>1.03 -0.5 0.32 1.570796 0.0 0.0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>1.0</ixx>
|
|
<ixy>0.0</ixy><iyy>1.0</iyy>
|
|
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name="front_left_wheel">
|
|
<pose>1.03 0.6 0.32 -1.52 0.0 0.0</pose>
|
|
<inertial>
|
|
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
|
|
<inertia>
|
|
<ixx>0.5</ixx>
|
|
<ixy>0.0</ixy><iyy>0.5</iyy>
|
|
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.32</radius>
|
|
<length>0.23</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<max_contacts>1</max_contacts>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0.0</slip1>
|
|
<slip2>0.0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
<kp>1e8</kp>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0 0 0 3.14159 1.570796 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Front_Wheel_Left</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</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>
|
|
</link>
|
|
<link name="front_left_wheel_steering_block">
|
|
<pose>1.03 0.5 0.32 1.570796 0.0 0.0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>1.0</ixx>
|
|
<ixy>0.0</ixy><iyy>1.0</iyy>
|
|
<ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.05</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- gas/brake pedals, steering wheel and hand brake -->
|
|
<link name='gas_pedal'>
|
|
<pose>0.63 0.10 0.58 0 0 0</pose>
|
|
<gravity>false</gravity>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='gas_pedal_collision'>
|
|
<pose>-0.0385 0 -0.086 0 2.016 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1069000 0.0770000 0.010000</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<!-- rotate mesh to get to X-forward -->
|
|
<pose>0 0 0 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Pedal_Gas</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</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>
|
|
</link>
|
|
|
|
<link name='brake_pedal'>
|
|
<gravity>false</gravity>
|
|
<pose>0.64 0.27 0.58 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='brake_pedal_collision'>
|
|
<pose>-0.040 0 -0.086 0 1.999 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.063 0.08 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<!-- rotate mesh to get to X-forward -->
|
|
<pose>0 0 0 0 0 -1.5707</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Pedal_brake</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</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>
|
|
</link>
|
|
|
|
<link name='steering_wheel'>
|
|
<pose>0.34 0.30 1.29 0 -0.87 0</pose>
|
|
<inertial>
|
|
<mass>1.0</mass>
|
|
<pose>-0.002 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.012</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.012</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.024</izz>
|
|
</inertia>
|
|
</inertial>
|
|
|
|
<collision name="collision">
|
|
<!-- rotate mesh to get to X-forward -->
|
|
<pose>0 0 0 -0.69 0 -1.570796</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Steering_Wheel</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.003</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
|
|
<visual name="visual">
|
|
<!-- rotate mesh to get to X-forward -->
|
|
<pose>0 0 0 -0.69 0 -1.570796</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>Steering_Wheel</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</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>
|
|
<!-- visual used to measure size of mesh steering wheel -->
|
|
<!--visual name="vis_cyl">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.16</radius>
|
|
<length>0.01</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</visual-->
|
|
</link>
|
|
|
|
<link name='hand_brake'>
|
|
<!--pose>0.50 0.00 1.05 0.0 3.2 0.0</pose-->
|
|
<pose>0.53 0.07 1.05 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.5</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="hand_brake_collision">
|
|
<!--pose>0 0 -0.10 0 0 0</pose-->
|
|
<pose>0 0 0.05 -0.2 0 -1.570796</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>E-Brake</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</mesh>
|
|
<!--cylinder>
|
|
<radius>0.01</radius>
|
|
<length>0.2</length>
|
|
</cylinder-->
|
|
</geometry>
|
|
</collision>
|
|
<visual name="hand_brake_visual">
|
|
<!--pose>0 0 -0.10 0 0 0</pose-->
|
|
<pose>0 0 0.05 -0.2 0 -1.570796</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
|
|
<submesh>
|
|
<name>E-Brake</name>
|
|
<center>true</center>
|
|
</submesh>
|
|
</mesh>
|
|
<!--cylinder>
|
|
<radius>0.01</radius>
|
|
<length>0.2</length>
|
|
</cylinder-->
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://polaris_ranger_ev/materials/scripts</uri>
|
|
<uri>model://polaris_ranger_ev/materials/textures</uri>
|
|
<name>Polaris/Diffuse</name>
|
|
</script>
|
|
<!--script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script-->
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name='FNR_switch'>
|
|
<pose>0.56 -0.02 1.08 0 0.25 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<!-- constrained about x axis -->
|
|
<!--ixx>0.00002</ixx-->
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00006</iyy>
|
|
<iyz>0</iyz>
|
|
<!-- constrained about z axis -->
|
|
<!--izz>0.00007</izz-->
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="FNR_switch">
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.04 0.08</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="FNR_switch_F">
|
|
<transparency>0.0</transparency>
|
|
<geometry>
|
|
<box>
|
|
<size>0.02 0.04 0.08</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://polaris_ranger_ev/materials/scripts</uri>
|
|
<uri>model://polaris_ranger_ev/materials/textures</uri>
|
|
<name>FNR_switch_F</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="FNR_switch_R">
|
|
<transparency>1.0</transparency>
|
|
<geometry>
|
|
<box>
|
|
<size>0.0199 0.0399 0.0799</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://polaris_ranger_ev/materials/scripts</uri>
|
|
<uri>model://polaris_ranger_ev/materials/textures</uri>
|
|
<name>FNR_switch_R</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint type="revolute" name="front_left_steering_joint">
|
|
<child>front_left_wheel_steering_block</child>
|
|
<parent>chassis</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<!-- +- 50 degrees -->
|
|
<lower>-0.8727</lower>
|
|
<upper>0.8727</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>50.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0.000000</cfm>
|
|
<erp>0.900000</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint type="revolute" name="front_left_wheel_joint">
|
|
<child>front_left_wheel</child>
|
|
<parent>front_left_wheel_steering_block</parent>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<joint type="revolute" name="front_right_steering_joint">
|
|
<child>front_right_wheel_steering_block</child>
|
|
<parent>chassis</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<!-- +- 50 degrees -->
|
|
<lower>-0.8727</lower>
|
|
<upper>0.8727</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>50.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0.000000</cfm>
|
|
<erp>0.900000</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
|
|
<joint type="revolute" name="front_right_wheel_joint">
|
|
<child>front_right_wheel</child>
|
|
<parent>front_right_wheel_steering_block</parent>
|
|
<axis>
|
|
<xyz>0 1 -0.05</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
|
|
<joint type="revolute" name="rear_left_wheel_joint">
|
|
<child>rear_left_wheel</child>
|
|
<parent>chassis</parent>
|
|
<axis>
|
|
<xyz>0 1 0.05</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<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 -0.05</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<joint type="revolute" name="rear_differential_joint">
|
|
<child>rear_right_wheel</child>
|
|
<parent>rear_left_wheel</parent>
|
|
<axis>
|
|
<!-- expressed in chassis frame -->
|
|
<xyz>0 1 0</xyz>
|
|
<dynamics>
|
|
<damping>70</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<erp>0</erp>
|
|
<cfm>1000</cfm>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
|
|
<joint name='gas_joint' type='prismatic'>
|
|
<parent>chassis</parent>
|
|
<child>gas_pedal</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 -1.000000</xyz>
|
|
<limit>
|
|
<lower>0.00</lower>
|
|
<upper>0.08</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>3.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='brake_joint' type='prismatic'>
|
|
<parent>chassis</parent>
|
|
<child>brake_pedal</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 -0.600000</xyz>
|
|
<limit>
|
|
<lower>0.00</lower>
|
|
<upper>0.08</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>3.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</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>-1 0 0.84365</xyz>
|
|
<limit>
|
|
<lower>-3.14</lower>
|
|
<upper>3.14</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='hand_brake_joint' type='revolute'>
|
|
<parent>chassis</parent>
|
|
<child>hand_brake</child>
|
|
<axis>
|
|
<xyz>0.0 -1.0 0.0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0.6</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='FNR_switch_joint' type='revolute'>
|
|
<parent>chassis</parent>
|
|
<child>FNR_switch</child>
|
|
<axis>
|
|
<xyz>0.0 -1.0 0.0</xyz>
|
|
<limit>
|
|
<lower>-0.3</lower>
|
|
<upper>0.3</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.01</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
|
|
</model>
|
|
</sdf>
|