diff --git a/models/lawnmower/meshes/wheel_link.STL b/models/lawnmower/meshes/wheel_link.STL new file mode 100644 index 000000000000..af0acf57eddc Binary files /dev/null and b/models/lawnmower/meshes/wheel_link.STL differ diff --git a/models/lawnmower/model.config b/models/lawnmower/model.config new file mode 100644 index 000000000000..992511dc1b34 --- /dev/null +++ b/models/lawnmower/model.config @@ -0,0 +1,15 @@ + + + lawnmower + 1.0 + model.sdf + + + Sergei Grichine + slg@quakemap.com + + + + This is a model of a full scale gas-powered zero-turn lawn mower (HUSQVARNA Z254F) + + diff --git a/models/lawnmower/model.sdf b/models/lawnmower/model.sdf new file mode 100644 index 000000000000..0f6ebf0398f4 --- /dev/null +++ b/models/lawnmower/model.sdf @@ -0,0 +1,586 @@ + + + + 0 0 0.246 0 0 0 + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 220.0 + + 40 + 0.0 + 150 + 0.0 + 0.0 + 150 + + + + 0 0 0.2 0 0 0 + + + 1.8 0.65 0.55 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 1.81 0.66 0.1 + + + + 0.9 0.36 0 1 + 0.9 0.36 0 1 + 0 0 0 0 + 0 0 0 1 + + + + -0.5 0 0.2 0 0 0 + + + 0.8 0.65 0.55 + + + + 1.0 0.4 0 1 + 1.0 0.4 0 1 + 0 0 0 0 + 0.2 0.08 0 1 + + + + + 0.2 -0.5 -0.1 0 0 0 + + + 0.25 + 0.1 + + + + 1.0 0.4 0 1 + 1.0 0.4 0 1 + 0 0 0 0 + 0.2 0.08 0 1 + + + + 0.23 0 -0.1 0 0 0 + + + 0.25 + 0.1 + + + + 1.0 0.4 0 1 + 1.0 0.4 0 1 + 0 0 0 0 + 0.2 0.08 0 1 + + + + 0.2 0.5 -0.1 0 0 0 + + + 0.25 + 0.1 + + + + 1.0 0.4 0 1 + 1.0 0.4 0 1 + 0 0 0 0 + 0.2 0.08 0 1 + + + + + 0.85 0.38 -0.1 0 0 0 + + + .1 + + + + + + 0 + 0 + 1.0 + 1.0 + + + + + + 0.85 0.38 -0.01 0 0 0 + + + 0.1 + 0.1 + + + + 0.9 0.36 0 1 + 0.9 0.36 0 1 + 0 0 0 0 + 0 0 0 1 + + + + 0.85 0.38 -0.1 0 0 0 + + + .1 + + + + 1.0 0.2 0.2 1 + 1.0 0.1 0.1 1 + 0 0 0 0 + 0 0 0 1 + + + + 0.85 -0.38 -0.1 0 0 0 + + + .1 + + + + + + 0 + 0 + 1.0 + 1.0 + + + + + + 0.85 -0.38 -0.01 0 0 0 + + + 0.1 + 0.1 + + + + 0.9 0.36 0 1 + 0.9 0.36 0 1 + 0 0 0 0 + 0 0 0 1 + + + + 0.85 -0.38 -0.1 0 0 0 + + + .1 + + + + 0.2 1.0 0.2 1 + 0.1 1.0 0.1 1 + 0 0 0 0 + 0 0 0 1 + + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 1 + 30 + + + 1 + 250 + + + + + -0.45 0.45 0.0215 0 1.57079632679 1.57079632679 + + 8.0 + + + 0.5 + 0.0 + 0.5 + 0.0 + 0.0 + 1.0 + + + + + + 0.22 + 0.22 + + + 1 + + + + 0.4 + 0.6 + + + + + + 0.005 + 1e8 + + + + + + 0 0 0 1.57079632679 0 0 + + + 2.8 2.0 2.8 + model://lawnmower/meshes/wheel_link.STL + + + + + + + + 0.17 0 0 0 0 0 + + + .10 .01 .21 + + + + 1.0 0.2 0.2 1 + 1.0 0.1 0.1 1 + 0 0 0 0 + 0 0 0 1 + + + + + left_wheel_link + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + -0.45 -0.45 0.0215 0 1.57079632679 1.57079632679 + + 8.0 + + + 0.5 + 0.0 + 0.5 + 0.0 + 0.0 + 1.0 + + + + + + 0.22 + 0.22 + + + 1 + + + + 0.4 + 0.6 + + + + + + 0.005 + 1e8 + + + + + + 0 0 0 1.57079632679 0 0 + + + 2.8 2.0 2.8 + model://lawnmower/meshes/wheel_link.STL + + + + + + + + 0.17 0 0 0 0 0 + + + .10 .01 .21 + + + + 0.2 1.0 0.2 1 + 0.1 1.0 0.1 1 + 0 0 0 0 + 0 0 0 1 + + + + + right_wheel_link + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + -0.9 0 0.5 0 0 0 + + 0 0 0 1.57079632679 0 0 + + + 0.1 + 0.08 + + + + 0.3 0.3 0.2 1 + 1.0 1.0 0.1 1 + 0 0 0 0 + 0 0 0 1 + + + + + engine_visual_link + base_link + + 1 0 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + 0.2 0 -0.1 0 0 0 + + 0.8 0 0 0 0 0 + + + .20 .01 .15 + + + + 1.0 0 0 1 + 1.0 0 0 1 + 0 0 0 0 + 0 0 0 1 + + + + + cutter_blades_link + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + -0.45 0 0.65 0 0 0 + + 0 0 0 1.57079632679 0 0 + + + 0.07 + + + + 0.7 0.7 0.0 1 + 0.7 0.7 0.0 1 + 0 0 0 0 + 0 0 0 1 + + + + 0 0 0 1.57079632679 0 0 + + + 0.08 + 0.02 + + + + 1.0 0 0 1 + 1.0 0 0 1 + 0 0 0 0 + 0 0 0 1 + + + + 0 0 -0.1 0 0 0 + + + .05 .05 .2 + + + + 0.7 0.7 0.0 1 + 0.7 0.7 0.0 1 + 0 0 0 0 + 0 0 0 1 + + + + + alarm_visual_link + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + + + + right_wheel_joint + + command/motor_speed + true + 0 + 0 + true + 5.0 + 2.0 + 0 + 1.0 + -1.0 + 1000.0 + -1000.0 + 0.0 + + + left_wheel_joint + + command/motor_speed + true + 1 + 0 + true + 5.0 + 2.0 + 0 + 1.0 + -1.0 + 1000.0 + -1000.0 + 0.0 + + + + cutter_blades_joint + servo_2 + + + + engine_visual_joint + servo_3 + 10.0 + + + + alarm_visual_joint + servo_4 + 1.0 + 2000.0 + 1000.0 + 0.0 + + + left_wheel_joint + right_wheel_joint + + 0 + +