model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">

  <!-- ===========================================================================
  The inertial properties of various links have been modified for the
  differential drive plugin to work. The original model can be accessed here
  https://app.ignitionrobotics.org/openrobotics/fuel/models/Polaris%20Ranger%20EV
  =========================================================================== -->

  <model name="caddy">

    <plugin name="readonly" filename="libreadonly.so">
      <!-- Map name where the robot is spawned -->
      <level_name>L1</level_name>
      <!-- Index of navigation graph for the robot as stored in BuildingMap msg -->
      <graph_index>2</graph_index>
      <!-- Name of waypoint where caddy is spawned in the map -->
      <spawn_waypoint>caddy</spawn_waypoint>
      <!-- Number of waypoints to include in predicted path -->
      <look_ahead>3</look_ahead>
      <!-- Update rate (hz) at which robot_state is published -->
      <update_rate>15</update_rate> 
      <!-- Waypoint threshold (m). Radius around the waypoint to determine if caddy is at that waypoint   -->
      <waypoint_threshold>2.0</waypoint_threshold>
      <!-- If true, predicted path will merge robot with nearest lane -->
      <merge_lane>false</merge_lane>
      <!-- Normal distance of robot from its lane, greater than which its path will merge with the lane -->
      <lane_threshold>0.2</lane_threshold>
    </plugin>

    <!-- Hack: we currently include both Ignition and Gazebo diff drive plugins in the same sdf file, avoiding
    the need to modify it each time we switch simulators. This may result in an error when a simulation engine
    cannot locate the second (unused) plugin, but is ignored for now. -->
    <plugin name="caddy_diff_controller" filename="libgazebo_ros_diff_drive.so">
      <always_on>true</always_on>
      <!-- Update rate -->
      <update_rate>100.0</update_rate>
      <!-- Number of wheel pairs -->
      <num_wheel_pairs>2</num_wheel_pairs>
      <!-- wheels -->
      <left_joint>front_left_wheel_joint</left_joint>
      <left_joint>rear_left_wheel_joint</left_joint>
      <right_joint>front_right_wheel_joint</right_joint>
      <right_joint>rear_right_wheel_joint</right_joint>
      <!-- kinematics -->
      <wheel_separation>1.2</wheel_separation>
      <wheel_separation>1.2</wheel_separation>
      <wheel_diameter>0.64</wheel_diameter>
      <wheel_diameter>0.64</wheel_diameter>
      <!-- limits -->
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <!-- output -->
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>true</publish_wheel_tf>
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>chassis</robot_base_frame>
    </plugin>

    <!-- Note: The forward slash before `libignition-gazebo-diff-drive-system.so` is necessary so that
    `dlopen` in Gazebo Classic interprets it as a pathname and avoids searching LD_LIBRARY_PATH for the
    plugin. If omitted, Gazebo Classic will locate the ignition plugin and crash while attempting to load it. -->
    <plugin name="ignition::gazebo::systems::DiffDrive" filename="/libignition-gazebo-diff-drive-system.so">
      <always_on>true</always_on>
      <update_rate>100.0</update_rate>
      <num_wheel_pairs>2</num_wheel_pairs>
      <left_joint>front_left_wheel_joint</left_joint>
      <left_joint>rear_left_wheel_joint</left_joint>
      <right_joint>front_right_wheel_joint</right_joint>
      <right_joint>rear_right_wheel_joint</right_joint>
      <wheel_separation>1.2</wheel_separation>
      <wheel_separation>1.2</wheel_separation>
      <wheel_diameter>0.64</wheel_diameter>
      <wheel_diameter>0.64</wheel_diameter>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_torque>150</max_wheel_torque>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <max_wheel_acceleration>0.5</max_wheel_acceleration>
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>true</publish_wheel_tf>
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>chassis</robot_base_frame>
    </plugin>

    <link name="chassis">
      <inertial>
        <!-- subtracted wheel weights from dry weight of 771 kg -->
        <!-- http://www.polaris.com/en-us/ranger-utv/side-by-sides/ranger-ev/specifications -->
        <mass>33.855</mass>
        <inertia>
          <ixx>2.2343</ixx>
          <ixy>0.0</ixy>
          <iyy>3.42518</iyy>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <izz>2.1241</izz>
        </inertia>
        <!-- chassis c.o.g. near lateral/longitudinal center, height of 0.4 m -->
        <pose>-0.6 0 0.1 0 0 0</pose>
      </inertial>
      <visual name="visual">
        <!-- rotate mesh to get to X-forward -->
        <pose>0 0 0 0 0 -1.570796</pose>
        <geometry>
          <mesh>
            <uri>model://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Ranger</name>
              <center>false</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/materials/textures</uri>
            <name>Polaris/Diffuse</name>
          </script>
        </material>
      </visual>
      <collision name="chassis_bottom">
        <pose>0.1 0.0 0.37 0 0 0</pose>
        <geometry>
          <box>
            <size>1.5 1.34 0.06</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 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.05 1.2 0.25</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_back">
        <pose>-1.35 0.0 1.025 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.05 1.2 0.25</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_left">
        <pose>-0.9 0.6 1.025 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.9 0.05 0.25</size>
          </box>
        </geometry>
      </collision>
      <collision name="cargo_right">
        <pose>-0.9 -0.6 1.025 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.9 0.05 0.25</size>
          </box>
        </geometry>
      </collision>
      <collision name="seat">
        <pose>-0.1 0.0 0.560 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6 1.22 0.50</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <collision name="mud_seat">
        <pose>-0.1 0.0 0.81 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6 1.15 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <collide_without_contact>true</collide_without_contact>
          </contact>
        </surface>
      </collision>
      <sensor name="seat_contact" type="contact">
        <always_on>true</always_on>
        <update_rate>1000</update_rate>
        <contact>
          <collision>mud_seat</collision>
        </contact>
      </sensor>
      <collision name="seat_back">
        <pose>-0.3 0.0 1.125 0.0 -0.2 0.0</pose>
        <geometry>
          <box>
            <size>0.06 1.0 0.4</size>
          </box>
        </geometry>
      </collision>
      <collision name="engine">
        <pose>1.05 0.0 0.7 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.58 1.0 0.8</size>
          </box>
        </geometry>
      </collision>
      <!-- Begin simple collision shapes for entry/exit handles -->
      <!--collision name="handle_left_top">
        <pose>-0.23 0.61 1.175  0 -1.32 0</pose>
        <geometry>
          <cylinder>
            <radius>0.015</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="handle_left_bottom">
        <pose>-0.20 0.61 0.98  0 -1.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.015</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
      </collision-->
      <collision name="handle_left_middle">
        <pose>-0.30 0.61 1.055 0 -0.20 0</pose>
        <geometry>
          <cylinder>
            <radius>0.02</radius>
            <length>0.17</length>
          </cylinder>
        </geometry>
      </collision>
      <!--collision name="handle_right_top">
        <pose>-0.23 -0.61 1.175  0 -1.32 0</pose>
        <geometry>
          <cylinder>
            <radius>0.015</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="handle_right_bottom">
        <pose>-0.20 -0.61 0.98  0 -1.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.015</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
      </collision-->
      <collision name="handle_right_middle">
        <pose>-0.30 -0.61 1.055 0 -0.20 0</pose>
        <geometry>
          <cylinder>
            <radius>0.02</radius>
            <length>0.17</length>
          </cylinder>
        </geometry>
      </collision>
      <!-- End simple collision shapes for entry/exit handles -->
      <!-- Begin simple collision shapes for roll cage -->
      <collision name="rollcage_top_left">
        <pose>0.0 0.61 1.92 0 1.61 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.68</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_top_right">
        <pose>0.0 -0.61 1.92 0 1.61 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.68</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_top_front">
        <pose>0.325 0.0 1.89 1.570796 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>1.22</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_top_back">
        <pose>-0.330 0.0 1.92 1.570796 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>1.22</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_front_left">
        <pose>0.54 0.61 1.45 0 -0.44 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>1.04</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_front_right">
        <pose>0.54 -0.61 1.45 0 -0.44 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>1.04</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="fender_front_right">
        <pose>0.64 -0.61 0.70 0 0.35 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.72</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="fender_front_left">
        <pose>0.64 0.61 0.70 0 0.35 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.72</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_left">
        <pose>-0.37 0.61 1.25 0 -0.14 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.90</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_right">
        <pose>-0.37 -0.61 1.25 0 -0.14 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.90</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_midleft">
        <pose>-0.37 0.155 1.25 0 -0.14 0</pose>
        <geometry>
          <cylinder>
            <radius>0.023</radius>
            <length>0.90</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_midright">
        <pose>-0.37 -0.155 1.25 0 -0.14 0</pose>
        <geometry>
          <cylinder>
            <radius>0.023</radius>
            <length>0.90</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_upper_left">
        <pose>-0.38 0.61 1.82 0 0.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.29</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_upper_right">
        <pose>-0.38 -0.61 1.82 0 0.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.29</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_upper_midleft">
        <pose>-0.38 0.155 1.82 0 0.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.023</radius>
            <length>0.29</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="rollcage_back_upper_midright">
        <pose>-0.38 -0.155 1.82 0 0.40 0</pose>
        <geometry>
          <cylinder>
            <radius>0.023</radius>
            <length>0.29</length>
          </cylinder>
        </geometry>
      </collision>
      <!-- End simple collision shapes for roll cage -->
      <!--<collision name="steering_column">
        <pose>0.525 0.3 1.125 0.0 -0.8 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.45</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="steering_column_visual">
        <pose>0.525 0.3 1.125 0.0 -0.8 0.0</pose> 
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.45</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Black</name>
          </script>
        </material>
      </visual>
-->
      <!-- the following was used as a guide for aligning the steering wheel mesh -->
      <!--visual name="visual_steering_cylinder">
        <pose>0.35 0.30 1.3  0 -0.87 0</pose> 
        <geometry>
          <cylinder>
            <radius>0.17</radius>
            <length>0.01</length>
          </cylinder>
        </geometry>
      </visual-->
    </link>
    <!--plugin name="seat_mud" filename="libMudPlugin.so">
      <contact_sensor_name>chassis/seat_contact</contact_sensor_name>
      <stiffness>0.0</stiffness>
      <damping>100.0</damping>
      <link_name>atlas::pelvis</link_name>
    </plugin-->
    <link name="rear_right_wheel">
      <pose>-0.85 -0.6 0.32 1.52 0.0 0.0</pose>
      <inertial>
        <mass>2.6357</mass>
        <!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
        <inertia>
          <ixx>0.092</ixx>
          <ixy>0.0</ixy>
          <iyy>0.092</iyy>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <izz>0.167</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.32</radius>
          </sphere>
        </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">
        <!-- rotate mesh to get to X-forward -->
        <pose>0 0 0 0 -1.570796 0</pose>
        <geometry>
          <mesh>
            <uri>model://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Rear_Wheel_Right</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/materials/textures</uri>
            <name>Polaris/Diffuse</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="rear_left_wheel">
      <pose>-0.85 0.6 0.32 -1.52 0.0 0.0</pose>
      <inertial>
        <mass>2.6357</mass>
        <!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
        <inertia>
          <ixx>0.092</ixx>
          <ixy>0.0</ixy>
          <iyy>0.092</iyy>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <izz>0.167</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.32</radius>
          </sphere>
        </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">
        <!-- rotate mesh to get to X-forward -->
        <pose>0 0 0 0 -1.570796 0</pose>
        <geometry>
          <mesh>
            <uri>model://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Rear_Wheel_Left</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/materials/textures</uri>
            <name>Polaris/Diffuse</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="front_right_wheel">
      <pose>1.03 -0.6 0.32 1.52 0.0 0.0</pose>
      <inertial>
        <mass>2.6357</mass>
        <!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
        <inertia>
          <ixx>0.092</ixx>
          <ixy>0.0</ixy>
          <iyy>0.092</iyy>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <izz>0.167</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.32</radius>
          </sphere>
        </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://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Front_Wheel_Right</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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>2.6357</mass>
        <!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
        <inertia>
          <ixx>0.092</ixx>
          <ixy>0.0</ixy>
          <iyy>0.092</iyy>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <izz>0.167</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.32</radius>
          </sphere>
        </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://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Front_Wheel_Left</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Pedal_Gas</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Pedal_brake</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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://Caddy/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://Caddy/meshes/polaris.dae</uri>
            <submesh>
              <name>Steering_Wheel</name>
              <center>true</center>
            </submesh>
          </mesh>
        </geometry>
        <material>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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://Caddy/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://Caddy/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>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/Ranger_Diffuse.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/FNR_switch_F.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/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>
          <diffuse>1.0 1.0 1.0</diffuse>
          <pbr>
            <metal>
              <albedo_map>model://Caddy/materials/textures/FNR_switch_R.png</albedo_map>
            </metal>
          </pbr>
          <script>
            <uri>model://Caddy/materials/scripts</uri>
            <uri>model://Caddy/materials/textures</uri>
            <name>FNR_switch_R</name>
          </script>
        </material>
      </visual>
    </link>

    <joint type="fixed" name="front_left_steering_joint">
      <child>front_left_wheel_steering_block</child>
      <parent>chassis</parent>
    </joint>

    <joint type="fixed" name="front_right_steering_joint">
      <child>front_right_wheel_steering_block</child>
      <parent>chassis</parent>
    </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</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <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</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0.000000</cfm>
            <erp>0.900000</erp>
          </limit>
        </ode>
      </physics>
    </joint>

    <joint type="revolute" name="rear_left_wheel_joint">
      <child>rear_left_wheel</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0.000000</cfm>
            <erp>0.900000</erp>
          </limit>
        </ode>
      </physics>
    </joint>

    <joint type="revolute" name="rear_right_wheel_joint">
      <child>rear_right_wheel</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0.000000</cfm>
            <erp>0.900000</erp>
          </limit>
        </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>
        <use_parent_model_frame>true</use_parent_model_frame>
      </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>
        <use_parent_model_frame>true</use_parent_model_frame>
      </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>
        <use_parent_model_frame>true</use_parent_model_frame>
      </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>
        <use_parent_model_frame>true</use_parent_model_frame>
      </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>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>