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75 lines (75 loc) · 4.38 KB
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<robot xmlns="http://www.ros.org" name="test_robot">
<link name="base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision name="base_link">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_pkg/models/base.glb#Mesh0" />
</geometry>
</collision>
</link>
<link name="left_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision name="left_wheel_link">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_pkg/models/wheel.glb#Mesh0" />
</geometry>
</collision>
</link>
<link name="right_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision name="right_wheel_link">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_pkg/models/wheel.glb#Mesh0" />
</geometry>
</collision>
</link>
<link name="caster_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision name="caster_wheel_link">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_pkg/models/caster_wheel.glb#Mesh0" />
</geometry>
</collision>
</link>
<joint name="left_wheel_link" type="continuous">
<origin xyz="1.1100000143051147 0 0.824999988079071" rpy="0 0 0" />
<parent link="base_link" />
<child link="left_wheel_link" />
<axis xyz="0 0 0" />
<limit lower="-999999999999999" upper="999999999999999" effort="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" velocity="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" />
</joint>
<joint name="right_wheel_link" type="continuous">
<origin xyz="-1.1100000143051147 0 0.824999988079071" rpy="0 0 0" />
<parent link="base_link" />
<child link="right_wheel_link" />
<axis xyz="0 0 0" />
<limit lower="-999999999999999" upper="999999999999999" effort="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" velocity="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" />
</joint>
<joint name="caster_wheel_link" type="continuous">
<origin xyz="-0 -0.5 -1.309999942779541" rpy="0 0 0" />
<parent link="base_link" />
<child link="caster_wheel_link" />
<axis xyz="0 0 0" />
<limit lower="-999999999999999" upper="999999999999999" effort="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" velocity="179769313486231570000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" />
</joint>
</robot>