robobuggy / buggygazebo / robobuggy_description / urdf / robobuggy.urdf @ 0e182761
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<?xml version="1.0"?> |
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<robot name="robobuggy"> |
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|
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<!-- Main Body --> |
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<link name='base_link'> |
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<collision name='collision'> |
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<origin xyz="0 0 .1" rpy="0 0 0"/> |
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<geometry> |
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<box size=".4 .2 .1"/> |
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</geometry> |
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</collision> |
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|
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<visual name='visual'> |
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<origin xyz="0 0 .1 " rpy="0 0 0"/> |
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<geometry> |
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<box size=".4 .2 .1"/> |
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</geometry> |
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</visual> |
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|
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<inertial> |
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<mass value="1e-5" /> |
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<origin xyz="0 0 .1 " rpy="0 0 0"/> |
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> |
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</inertial> |
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</link> |
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|
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|
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<!-- Left Wheel --> |
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<link name="left_wheel"> |
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<collision name="collision"> |
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<origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/> |
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<geometry> |
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<cylinder length="0.05" radius="0.1"/> |
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</geometry> |
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</collision> |
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<visual name="visual"> |
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<origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/> |
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<geometry> |
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<cylinder length="0.05" radius="0.1"/> |
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</geometry> |
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</visual> |
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<inertial> |
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<mass value="1e-5" /> |
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<origin xyz="0.2 0.13 0.1"/> |
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> |
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</inertial> |
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</link> |
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|
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|
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<joint type="revolute" name="joint1"> |
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<!-- origin taken from generated pose for joint , form the file that was created by gzsdf print --> |
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<origin xyz="0.2 0.13 0.1" rpy="-1.56451e-13 1.5707 1.5707"/> |
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<child link="left_wheel">left_wheel</child> |
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<parent link="base_link">base_link</parent> |
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<axis xyz="0 1 0"/> |
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<limit effort="30" velocity="1.0" lower="-100" upper="100" /> |
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</joint> |
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</robot> |