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<?xml version="1.0"?>
<robot name="beaker">
<!-- colors ................................................................. -->
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<material name="green">
<color rgba="0 0.8 0 0.75"/>
</material>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="orange">
<color rgba="0.8 0.4 0 0.75"/>
</material>
<material name="pink">
<color rgba="1 0.5 0.5 1"/>
</material>
<material name="gray">
<color rgba="0.7 0.7 0.7 1"/>
</material>
<!-- main body (base) .................................................................-->
<link name="body">
<visual>
<geometry>
<box size="0.1016 0.0254 0.6604"/>
</geometry>
<origin xyz="0 0 0.3302" />
<material name="gray"/>
</visual>
<!-- axle -->
<visual>
<geometry>
<cylinder length="0.17" radius=".01"/>
</geometry>
<origin rpy="0 1.5707963 0" xyz="0 0 0.01905"/>
<material name="gray"/>
</visual>
<collision>
<geometry>
<box size="0.1016 0.0254 0.6604"/>
</geometry>
<origin xyz="0 0 0.3302" />
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.2159"/>
<mass value="1.767" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</inertial>
</link>
<!-- right Wheel .................................................................-->
<link name="right_wheel">
<visual>
<geometry>
<cylinder length="0.0254" radius="0.042"/>
</geometry>
<origin rpy="0 1.5708 0"/>
<material name="green"/>
</visual>
<collision>
<geometry>
<cylinder length="0.0254" radius="0.042"/>
</geometry>
<origin rpy="0 1.5708 0"/>
</collision>
<inertial>
<mass value=".1" />
<inertia ixx="0.00004453" ixy="0.0" ixz="0.0" iyy="0.00004453" iyz="0.0" izz="0.00007938"/>
</inertial>
</link>
<joint name="base_to_right_wheel" type="revolute">
<limit lower="-0.0756" upper="0.0756" effort="1000" velocity="1000"/>
<origin xyz="0.09398 0 0.01905"/>
<parent link="body"/>
<child link="right_wheel"/>
<axis xyz="1 0 0"/>
</joint>
<!-- left Wheel .................................................................-->
<link name="left_wheel">
<visual>
<geometry>
<cylinder length="0.0254" radius="0.042"/>
</geometry>
<origin rpy="0 1.5708 0"/>
<material name="red"/>
</visual>
<collision>
<geometry>
<cylinder length="0.0254" radius="0.042"/>
</geometry>
<origin rpy="0 1.5708 0"/>
</collision>
<inertial>
<mass value=".1" />
<inertia ixx="0.00004453" ixy="0.0" ixz="0.0" iyy="0.00004453" iyz="0.0" izz="0.00007938"/>
</inertial>
</link>
<joint name="base_to_left_wheel" type="revolute">
<limit lower="-0.0756" upper="0.0756" effort="1000" velocity="1000"/>
<origin xyz="-0.09398 0 0.01905"/>
<parent link="body"/>
<child link="left_wheel"/>
<axis xyz="1 0 0"/>
</joint>
</robot>
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