<?xml version='1.0'?> <sdf version='1.4'> <model name="at_volvo"> <static>false</static> <!-- Main vehicle Body --> <link name='chassis'> <!-- pose of the vehicle wrt model origin --> <pose>0 0 1 0 0 0</pose> <!-- Inertia of a box: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <inertial> <mass>2300.0</mass> <inertia> <ixx>937.5</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) --> <ixy>0.0</ixy> <!-- for a box: ixy = 0 --> <ixz>0.0</ixz> <!-- for a box: ixz = 0 --> <iyy>8520.8</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) --> <iyz>0.0</iyz> <!-- for a box: iyz = 0 --> <izz>9083.3</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) --> </inertia> </inertial> <!-- Collision box --> <collision name='collision'> <geometry> <box> <size>5.250 2.495 0.4</size> </box> </geometry> </collision> <!-- Appearence box --> <visual name='visual'> <geometry> <box> <size>5.250 2.495 0.4</size> </box> </geometry> </visual> </link> <!-- Main cabinet --> <link name='cabinet'> <!-- pose of the vehicle wrt model origin --> <pose>1.5 0 2.75 0 0 0</pose> <!-- Inertia of a box: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <inertial> <mass>1000.0</mass> <inertia> <ixx>937.5</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) --> <ixy>0.0</ixy> <!-- for a box: ixy = 0 --> <ixz>0.0</ixz> <!-- for a box: ixz = 0 --> <iyy>8520.8</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) --> <iyz>0.0</iyz> <!-- for a box: iyz = 0 --> <izz>9083.3</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) --> </inertia> </inertial> <!-- Collision box --> <collision name='collision'> <geometry> <box> <size>2.375 2.495 3.353</size> </box> </geometry> </collision> <!-- Appearence box --> <visual name='visual'> <geometry> <box> <size>2.375 2.495 3.353</size> </box> </geometry> </visual> </link> <!-- trailer --> <link name='trailer'> <!-- pose of the vehicle wrt model origin --> <pose>-5.25 0 1 0 0 0</pose> <!-- Inertia of a box: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <inertial> <mass>2300.0</mass> <inertia> <ixx>937.5</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) --> <ixy>0.0</ixy> <!-- for a box: ixy = 0 --> <ixz>0.0</ixz> <!-- for a box: ixz = 0 --> <iyy>8520.8</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) --> <iyz>0.0</iyz> <!-- for a box: iyz = 0 --> <izz>9083.3</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) --> </inertia> </inertial> <!-- Collision box --> <collision name='collision'> <geometry> <box> <size>6. 2.495 0.2</size> </box> </geometry> </collision> <!-- Appearence box --> <visual name='visual'> <geometry> <box> <size>6. 2.495 0.2</size> </box> </geometry> </visual> </link> <!-- Front left wheel --> <link name="front_left_wheel"> <pose>1 1.2475 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- Front right wheel --> <link name="front_right_wheel"> <pose>1 -1.2475 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- Rear left wheel --> <link name="rear_left_wheel"> <pose>-2 1.2475 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- Rear right wheel --> <link name="rear_right_wheel"> <pose>-2 -1.2475 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- trailer left wheel --> <link name="trailer_left_wheel"> <pose>-5.5 1.2 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- Trailer right wheel --> <link name="trailer_right_wheel"> <pose>-5.5 -1.2 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- trailer left wheel 2 --> <link name="trailer_left_wheel_2"> <pose>-7.3 1.2 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <!-- trailer right wheel 2 --> <link name="trailer_right_wheel_2"> <pose>-7.3 -1.2 0.882 0 1.5707 1.5707</pose> <inertial> <!-- Inertia of a cylinder: http://en.wikipedia.org/wiki/List_of_moments_of_inertia --> <mass>100.0</mass> <inertia> <ixx>6.5</ixx> <!-- for a cylinder: ixx = 0.083 * mass * (3*radius^2 + height) --> <ixy>0.0</ixy> <!-- for a cylinder: ixy = 0 --> <ixz>0.0</ixz> <!-- for a cylinder: ixz = 0 --> <iyy>6.5</iyy> <!-- for a cylinder: iyy = 0.083 * mass * (3*radius^2 + height) --> <iyz>0.0</iyz> <!-- for a cylinder: iyz = 0 --> <izz>12.25</izz> <!-- for a cylinder: izz = 0.5 * mass * radius^2 --> </inertia> </inertial> <collision name="collision"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.882</radius> <length>0.3</length> </cylinder> </geometry> </visual> </link> <joint name="trailer_left_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>trailer_left_wheel</child> <parent>trailer</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="trailer_right_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>trailer_right_wheel</child> <parent>trailer</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="trailer_left_wheel_hinge_2" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>trailer_left_wheel</child> <parent>trailer</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="trailer_right_wheel_hinge_2" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>trailer_right_wheel</child> <parent>trailer</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="front_left_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>front_left_wheel</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="front_right_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>front_right_wheel</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="rear_left_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>rear_left_wheel</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="rear_right_wheel_hinge" type="revolute"> <pose>0 0 0 0 0 0</pose> <child>rear_right_wheel</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> </axis> </joint> <joint name="main_cabinet_hinge" type="revolute"> <pose>1.5 0 3 0 0 0</pose> <child>cabinet</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> <joint name="trailer_cabinet_hinge" type="revolute"> <pose>-5.75 0 1 0 0 0</pose> <child>trailer</child> <parent>chassis</parent> <axis> <xyz>0 1 0</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> <include> <uri>model://hokuyo</uri> <name>front_lidar</name> <pose>2.75 0 1 0 0 0</pose> <!-- pose in global coordinate frame --> </include> <include> <uri>model://hokuyo</uri> <name>rear_lidar</name> <pose>-8.3 0 1 0 0 3</pose> <!-- pose in global coordinate frame --> </include> <include> <uri>model://camera</uri> <name>front_camera</name> <pose>2.75 0 4 0 0 0</pose> <!-- pose in global coordinate frame --> </include> <joint name="front_lidar_joint" type="revolute"> <child>front_lidar::link</child> <parent>chassis</parent> <axis> <xyz>0 0 1</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> <joint name="rear_lidar_joint" type="revolute"> <child>rear_lidar::link</child> <parent>trailer</parent> <axis> <xyz>0 0 1</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> <joint name="front_camera" type="revolute"> <child>front_camera::link</child> <parent>cabinet</parent> <axis> <xyz>0 0 1</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> </model> </sdf>