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Capelare

_rays_link.oddCOM.urdf

Capelare
Aug 16th, 2012
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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- |    This document was autogenerated by xacro from nxt_ultrasonic_car.urdf.xacro  | -->
  4. <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5. <!-- =================================================================================== -->
  6. <robot name="nxt_simple_car" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
  7.   <!-- Included URDF Files -->
  8.   <link name="base_footprint">
  9.     <inertial>
  10.       <mass value="0"/>
  11.       <origin xyz="0 0 0"/>
  12.       <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
  13.     </inertial>
  14.     <visual>
  15.       <origin rpy="0 0 0" xyz="0 0 0"/>
  16.       <geometry>
  17.         <box size="0.001 0.001 0.001"/>
  18.       </geometry>
  19.     </visual>
  20.     <collision>
  21.       <origin rpy="0 0 0" xyz="0 0 0"/>
  22.       <geometry>
  23.         <box size="0 0 0"/>
  24.       </geometry>
  25.     </collision>
  26.   </link>
  27.   <joint name="base_footprint_joint" type="fixed">
  28.     <origin rpy="0 0 0" xyz="0 0 0"/>
  29.     <parent link="base_footprint"/>
  30.     <child link="base_link"/>
  31.   </joint>
  32.   <link name="base_link">
  33.     <inertial>
  34.       <mass value="0.0"/>
  35.       <origin xyz="0 0 0"/>
  36.       <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
  37.     </inertial>
  38.     <visual>
  39.       <origin rpy="0 0 0" xyz="0 0 0"/>
  40.       <geometry>
  41.         <box size="0.001 0.001 0.001"/>
  42.       </geometry>
  43.     </visual>
  44.     <collision>
  45.       <origin rpy="0 0 0" xyz="0 0 0"/>
  46.       <geometry>
  47.         <box size="0 0 0"/>
  48.       </geometry>
  49.     </collision>
  50.   </link>
  51.   <joint name="base_base_peg_joint" type="fixed">
  52.     <origin rpy="0 0 0" xyz="0 0 0"/>
  53.     <parent link="base_link"/>
  54.     <child link="base_peg_link"/>
  55.   </joint>
  56.   <link name="base_peg_link">
  57.     <inertial>
  58.       <mass value="0.001"/>
  59.       <origin xyz="0 0 0"/>
  60.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  61.     </inertial>
  62.     <visual>
  63.       <origin rpy="0 0 0" xyz="0 0 0"/>
  64.       <geometry>
  65.         <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale="0.0004  0.0004  0.0004"/>
  66.       </geometry>
  67.     </visual>
  68.     <collision>
  69.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  70.       <geometry>
  71.         <cylinder length="0.024" radius="0.0024"/>
  72.       </geometry>
  73.     </collision>
  74.   </link>
  75.   <joint name="base_peg_left_rail_joint" type="fixed">
  76.     <origin rpy="0 0 0" xyz="-0.008 -0.048 0"/>
  77.     <parent link="base_peg_link"/>
  78.     <child link="left_rail_link"/>
  79.   </joint>
  80.   <link name="left_rail_link">
  81.     <inertial>
  82.       <mass value="0.002"/>
  83.       <origin xyz="0 0 0"/>
  84.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  85.     </inertial>
  86.     <visual>
  87.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  88.       <geometry>
  89.         <mesh filename="package://nxt_description/meshes/parts/41239.dae" scale="0.0004  0.0004  0.0004"/>
  90.       </geometry>
  91.     </visual>
  92.     <collision>
  93.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  94.       <geometry>
  95.         <box size="0.008 0.104 0.008"/>
  96.       </geometry>
  97.     </collision>
  98.   </link>
  99.   <joint name="base_peg_right_rail_joint" type="fixed">
  100.     <origin rpy="0 0 0" xyz="0.008 -0.048 0"/>
  101.     <parent link="base_peg_link"/>
  102.     <child link="right_rail_link"/>
  103.   </joint>
  104.   <link name="right_rail_link">
  105.     <inertial>
  106.       <mass value="0.002"/>
  107.       <origin xyz="0 0 0"/>
  108.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  109.     </inertial>
  110.     <visual>
  111.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  112.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  113.       <geometry>
  114.         <mesh filename="package://nxt_description/meshes/parts/41239.dae" scale="0.0004  0.0004  0.0004"/>
  115.       </geometry>
  116.     </visual>
  117.     <collision>
  118.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  119.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  120.       <geometry>
  121.         <box size="0.008 0.104 0.008"/>
  122.       </geometry>
  123.     </collision>
  124.   </link>
  125.   <joint name="base_peg_bumper_beam_joint" type="fixed">
  126.     <origin rpy="0 0 0" xyz="0 0 0"/>
  127.     <parent link="base_peg_link"/>
  128.     <child link="bumper_beam_link"/>
  129.   </joint>
  130.   <link name="bumper_beam_link">
  131.     <inertial>
  132.       <mass value="0.002"/>
  133.       <origin xyz="0 0 0"/>
  134.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  135.     </inertial>
  136.     <visual>
  137.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  138.       <!-- xyz= 0 -beam_size_y*5*sin(53) beam_size_y*5*cos(53) -->
  139.       <origin rpy="-1.570795 -0.925024504 1.570795" xyz="0 -0.0319454204 0.02407260092"/>
  140.       <geometry>
  141.         <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale="0.0004  0.0004  0.0004"/>
  142.       </geometry>
  143.     </visual>
  144.     <collision>
  145.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  146.       <origin rpy="-1.570795 -0.925024504 1.570795" xyz="0 -0.0159727102 0.01203630046"/>
  147.       <geometry>
  148.         <box size="0.008 0.048 0.008"/>
  149.       </geometry>
  150.     </collision>
  151.   </link>
  152.   <joint name="bumper_beam_left_bumper_beam_joint" type="fixed">
  153.     <!-- xyz= -beam_size_y beam_size_y*3*cos(16) beam_size_y*3*sin(16) -->
  154.     <origin rpy="0.27925268 0 0" xyz="-0.008 0.023070280704 0.006615296544"/>
  155.     <parent link="bumper_beam_link"/>
  156.     <child link="left_bumper_beam_link"/>
  157.   </joint>
  158.   <link name="left_bumper_beam_link">
  159.     <inertial>
  160.       <mass value="0.002"/>
  161.       <origin xyz="0 0 0"/>
  162.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  163.     </inertial>
  164.     <visual>
  165.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  166.       <!-- xyz= -beam_size_y beam_size_y*3*cos(16) beam_size_y*3*sin(16) -->
  167.       <origin rpy="0 3.14159 0" xyz="0 0 0"/>
  168.       <geometry>
  169.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  170.       </geometry>
  171.     </visual>
  172.     <collision>
  173.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  174.       <!-- xyz= 0 -beam_size_y*0.5*sin(16) beam_size_y*0.5*cons(16) -->
  175.       <origin rpy="0 3.14159 0" xyz="0 0 0.004"/>
  176.       <geometry>
  177.         <box size="0.008 0.008 0.016"/>
  178.       </geometry>
  179.     </collision>
  180.   </link>
  181.   <joint name="left_bumper_beam_left_left_bumper_beam_joint" type="fixed">
  182.     <origin rpy="0 0 0" xyz="-0.008 0 0"/>
  183.     <parent link="left_bumper_beam_link"/>
  184.     <child link="left_left_bumper_beam_link"/>
  185.   </joint>
  186.   <link name="left_left_bumper_beam_link">
  187.     <inertial>
  188.       <mass value="0.002"/>
  189.       <origin xyz="0 0 0"/>
  190.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  191.     </inertial>
  192.     <visual>
  193.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  194.       <!-- xyz= -beam_size_y beam_size_y*3*cos(16) beam_size_y*3*sin(16) -->
  195.       <origin rpy="0 3.14159 0" xyz="0 0 0"/>
  196.       <geometry>
  197.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  198.       </geometry>
  199.     </visual>
  200.     <collision>
  201.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  202.       <!-- xyz= 0 -beam_size_y*0.5*sin(16) beam_size_y*0.5*cons(16) -->
  203.       <origin rpy="0 3.14159 0" xyz="0 0 0.004"/>
  204.       <geometry>
  205.         <box size="0.008 0.008 0.016"/>
  206.       </geometry>
  207.     </collision>
  208.   </link>
  209.   <joint name="bumper_beam_right_bumper_beam_joint" type="fixed">
  210.     <!-- xyz= beam_size_y beam_size_y*3*cos(16) beam_size_y*3*sin(16) -->
  211.     <origin rpy="0.27925268 0 0" xyz="0.008 0.023070280704 0.006615296544"/>
  212.     <parent link="bumper_beam_link"/>
  213.     <child link="right_bumper_beam_link"/>
  214.   </joint>
  215.   <link name="right_bumper_beam_link">
  216.     <inertial>
  217.       <mass value="0.002"/>
  218.       <origin xyz="0 0 0"/>
  219.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  220.     </inertial>
  221.     <visual>
  222.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  223.       <!-- xyz= -beam_size_y beam_size_y*3*cos(16) beam_size_y*3*sin(16) -->
  224.       <origin rpy="0 3.14159 0" xyz="0 0 0"/>
  225.       <geometry>
  226.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  227.       </geometry>
  228.     </visual>
  229.     <collision>
  230.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  231.       <!-- xyz= 0 -beam_size_y*0.5*sin(16) beam_size_y*0.5*cons(16) -->
  232.       <origin rpy="0 3.14159 0" xyz="0 0 0.004"/>
  233.       <geometry>
  234.         <box size="0.008 0.008 0.016"/>
  235.       </geometry>
  236.     </collision>
  237.   </link>
  238.   <joint name="right_bumper_beam_right_right_bumper_beam_joint" type="fixed">
  239.     <origin rpy="0 0 0" xyz="0.008 0 0"/>
  240.     <parent link="right_bumper_beam_link"/>
  241.     <child link="right_right_bumper_beam_link"/>
  242.   </joint>
  243.   <link name="right_right_bumper_beam_link">
  244.     <inertial>
  245.       <mass value="0.002"/>
  246.       <origin xyz="0 0 0"/>
  247.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  248.     </inertial>
  249.     <visual>
  250.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  251.       <origin rpy="0 3.14159 0" xyz="0 0 0"/>
  252.       <geometry>
  253.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  254.       </geometry>
  255.     </visual>
  256.     <collision>
  257.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  258.       <!-- xyz= 0 -beam_size_y*0.5*sin(16) beam_size_y*0.5*cons(16) -->
  259.       <origin rpy="0 3.14159 0" xyz="0 0 0.004"/>
  260.       <geometry>
  261.         <box size="0.008 0.008 0.016"/>
  262.       </geometry>
  263.     </collision>
  264.   </link>
  265.   <joint name="base_peg_support_beam_joint" type="fixed">
  266.     <origin rpy="0 0 0" xyz="0 -0.08 0"/>
  267.     <parent link="base_peg_link"/>
  268.     <child link="support_beam_link"/>
  269.   </joint>
  270.   <link name="support_beam_link">
  271.     <inertial>
  272.       <mass value="0.002"/>
  273.       <origin xyz="0 0.014443560552 0.01916725224"/>
  274.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  275.     </inertial>
  276.     <visual>
  277.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  278.       <!-- 37(deg) == 0.645771823(rad) -->
  279.       <!-- xyz= 0 beam_size_y*5*sin(37) beam_size_y*5*cos(37) -->
  280.       <origin rpy="1.570795 0.645771823 1.570795" xyz="0 0.014443560552 0.01916725224"/>
  281.       <geometry>
  282.         <mesh filename="package://nxt_description/meshes/parts/32524.dae" scale="0.0004  0.0004  0.0004"/>
  283.       </geometry>
  284.     </visual>
  285.     <collision>
  286.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  287.       <origin rpy="1.570795 0.645771823 1.570795" xyz="0 0.014443560552 0.01916725224"/>
  288.       <geometry>
  289.         <box size="0.008 0.056 0.008"/>
  290.       </geometry>
  291.     </collision>
  292.   </link>
  293.   <joint name="support_beam_support_axle_joint" type="fixed">
  294.     <origin rpy="-0.645771823 0 0" xyz="0 0.028887121104 0.03833450448"/>
  295.     <parent link="support_beam_link"/>
  296.     <child link="support_axle_link"/>
  297.   </joint>
  298.   <link name="support_axle_link">
  299.     <inertial>
  300.       <mass value="0.001"/>
  301.       <origin xyz="0 0 0"/>
  302.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  303.     </inertial>
  304.     <visual>
  305.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  306.       <!-- 37(deg) == 0.645771823(rad) -->
  307.       <origin rpy="0 0.645771823 1.570795" xyz="0 0 0"/>
  308.       <geometry>
  309.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/3707.dae" scale="0.0004  0.0004  0.0004"/>
  310.       </geometry>
  311.     </visual>
  312.     <collision>
  313.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  314.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  315.       <geometry>
  316.         <cylinder length="0.064" radius="0.0024"/>
  317.       </geometry>
  318.     </collision>
  319.   </link>
  320.   <joint name="bumper_beam_lower_support_axle_joint" type="fixed">
  321.     <!-- xyz= 0 -beam_size_y*5*sin(53) beam_size_y*5*cos(53) -->
  322.     <origin rpy="0 0 0" xyz="0 -0.0319454204 0.02407260092"/>
  323.     <parent link="bumper_beam_link"/>
  324.     <child link="lower_support_axle_link"/>
  325.   </joint>
  326.   <link name="lower_support_axle_link">
  327.     <inertial>
  328.       <mass value="0.001"/>
  329.       <origin xyz="0 0 0"/>
  330.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  331.     </inertial>
  332.     <visual>
  333.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  334.       <origin rpy="0 -0.925024504 1.570795" xyz="0 0 0"/>
  335.       <geometry>
  336.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/3707.dae" scale="0.0004  0.0004  0.0004"/>
  337.       </geometry>
  338.     </visual>
  339.     <collision>
  340.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  341.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  342.       <geometry>
  343.         <cylinder length="0.064" radius="0.0024"/>
  344.       </geometry>
  345.     </collision>
  346.   </link>
  347.   <joint name="support_axle_left_L_beam_joint" type="fixed">
  348.     <origin rpy="3.14159 -1.570795 0" xyz="-0.032 0 0"/>
  349.     <parent link="support_axle_link"/>
  350.     <child link="left_L_beam_link"/>
  351.   </joint>
  352.   <link name="left_L_beam_link">
  353.     <inertial>
  354.       <mass value="0.002"/>
  355.       <origin xyz="0 0 0"/>
  356.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  357.     </inertial>
  358.     <visual>
  359.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  360.       <origin rpy="0 0 0" xyz="0 -0.024 0"/>
  361.       <geometry>
  362.         <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004  0.0004  0.0004"/>
  363.       </geometry>
  364.     </visual>
  365.     <collision>
  366.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  367.       <origin rpy="0 0 0" xyz="0 0 0"/>
  368.       <geometry>
  369.         <box size="0 0 0"/>
  370.       </geometry>
  371.     </collision>
  372.   </link>
  373.   <joint name="support_axle_right_L_beam_joint" type="fixed">
  374.     <origin rpy="3.14159 -1.570795 0" xyz="0.032 0 0"/>
  375.     <parent link="support_axle_link"/>
  376.     <child link="right_L_beam_link"/>
  377.   </joint>
  378.   <link name="right_L_beam_link">
  379.     <inertial>
  380.       <mass value="0.002"/>
  381.       <origin xyz="0 0 0"/>
  382.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  383.     </inertial>
  384.     <visual>
  385.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  386.       <origin rpy="0 0 0" xyz="0 -0.024 0"/>
  387.       <geometry>
  388.         <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004  0.0004  0.0004"/>
  389.       </geometry>
  390.     </visual>
  391.     <collision>
  392.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  393.       <origin rpy="0 0 0" xyz="0 0 0"/>
  394.       <geometry>
  395.         <box size="0 0 0"/>
  396.       </geometry>
  397.     </collision>
  398.   </link>
  399.   <joint name="left_L_beam_left_brick_beam_joint" type="fixed">
  400.     <origin rpy="0 0 0" xyz="0.016 0 -0.008"/>
  401.     <parent link="left_L_beam_link"/>
  402.     <child link="left_brick_beam_link"/>
  403.   </joint>
  404.   <link name="left_brick_beam_link">
  405.     <inertial>
  406.       <mass value="0.002"/>
  407.       <origin xyz="0 0 0"/>
  408.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  409.     </inertial>
  410.     <visual>
  411.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  412.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  413.       <geometry>
  414.         <mesh filename="package://nxt_description/meshes/parts/32316.dae" scale=" 0.0004  0.0004  0.0004"/>
  415.       </geometry>
  416.     </visual>
  417.     <collision>
  418.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  419.       <origin rpy="0 0 0" xyz="0 0 0"/>
  420.       <geometry>
  421.         <box size="0.04 0.008 0.008"/>
  422.       </geometry>
  423.     </collision>
  424.   </link>
  425.   <joint name="right_L_beam_right_brick_beam_joint" type="fixed">
  426.     <origin rpy="0 0 0" xyz="0.016 0 0.008"/>
  427.     <parent link="right_L_beam_link"/>
  428.     <child link="right_brick_beam_link"/>
  429.   </joint>
  430.   <link name="right_brick_beam_link">
  431.     <inertial>
  432.       <mass value="0.002"/>
  433.       <origin xyz="0 0 0"/>
  434.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  435.     </inertial>
  436.     <visual>
  437.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  438.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  439.       <geometry>
  440.         <mesh filename="package://nxt_description/meshes/parts/32316.dae" scale=" 0.0004  0.0004  0.0004"/>
  441.       </geometry>
  442.     </visual>
  443.     <collision>
  444.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  445.       <origin rpy="0 0 0" xyz="0 0 0"/>
  446.       <geometry>
  447.         <box size="0.04 0.008 0.008"/>
  448.       </geometry>
  449.     </collision>
  450.   </link>
  451.   <joint name="base_peg_brick_joint" type="fixed">
  452.     <!-- 37(deg) == 0.645771823(rad) -->
  453.     <!-- xyz= 0 -beam_size_y*10*cos(37) beam_size_y*10*sin(37) -->
  454.     <!-- xyz= 0 -0.05668641135357899 0.05791167370537637 -->
  455.     <origin rpy="0.645771823 0 3.14159" xyz="0 -0.0638908408 0.04814520184"/>
  456.     <parent link="base_peg_link"/>
  457.     <child link="brick_link"/>
  458.   </joint>
  459.   <link name="brick_link">
  460.     <inertial>
  461.       <mass value="0.26"/>
  462.       <origin xyz="0 0 0.028"/>
  463.       <!-- xyz="0 0 ${beam_size_y*3.5}" -->
  464.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  465.     </inertial>
  466.     <visual>
  467.       <!-- visual origin is defined w.r.t. link local coordinate system -->
  468.       <origin rpy="0 0 0" xyz="0 0 0.012"/>
  469.       <geometry>
  470.         <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004  0.0004  0.0004"/>
  471.       </geometry>
  472.     </visual>
  473.     <collision>
  474.       <!-- collision origin is defined w.r.t. link local coordinate system -->
  475.       <origin rpy="0 0 0" xyz="0 0 0.028"/>
  476.       <geometry>
  477.         <box size="0.072 0.111 0.0475"/>
  478.       </geometry>
  479.     </collision>
  480.   </link>
  481.   <joint name="left_rail_left_motor_joint" type="fixed">
  482.     <origin rpy="0 3.14159 0" xyz="-0.016 0.024 0.008"/>
  483.     <parent link="left_rail_link"/>
  484.     <child link="left_motor_link"/>
  485.   </joint>
  486.   <link name="left_motor_link">
  487.     <inertial>
  488.       <mass value="0.08"/>
  489.       <origin xyz="0 -0.124 0.008"/>
  490.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  491.     </inertial>
  492.     <visual>
  493.       <origin rpy="0 0 0" xyz="0 0 0"/>
  494.       <geometry>
  495.         <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale="0.0004  0.0004  0.0004"/>
  496.       </geometry>
  497.     </visual>
  498.     <collision>
  499.       <origin rpy="0 0 0" xyz="0 -0.0424 -0.011"/>
  500.       <geometry>
  501.         <box size="0.04 0.108 0.046"/>
  502.       </geometry>
  503.     </collision>
  504.   </link>
  505.   <joint name="left_motor_left_motor_hub_joint" type="continuous">
  506.     <origin rpy="0 0 0" xyz="0 0 0"/>
  507.     <axis xyz="1 0 0"/>
  508.     <parent link="left_motor_link"/>
  509.     <child link="left_motor_hub_link"/>
  510.     <!-- TODO: What's this? -->
  511.     <joint_properties damping="0.0" friction="0.0"/>
  512.     <limit effort="100" velocity="100"/>
  513.   </joint>
  514.   <link name="left_motor_hub_link">
  515.     <inertial>
  516.       <mass value="0.002"/>
  517.       <origin xyz="0 0 0"/>
  518.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  519.     </inertial>
  520.     <visual>
  521.       <origin rpy="0 0 0" xyz="0 0 0"/>
  522.       <geometry>
  523.         <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale="0.0004  0.0004  0.0004"/>
  524.       </geometry>
  525.     </visual>
  526.     <collision>
  527.       <origin rpy="0 0 0" xyz="0 0 0"/>
  528.       <geometry>
  529.         <box size="0 0 0"/>
  530.       </geometry>
  531.     </collision>
  532.   </link>
  533.   <transmission name="left_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
  534.     <actuator name="left_wheel_motor"/>
  535.     <joint name="left_motor_left_motor_hub_joint"/>
  536.     <mechanicalReduction>1.0</mechanicalReduction>
  537.   </transmission>
  538.   <joint name="left_motor_hub_left_axle_joint" type="fixed">
  539.     <origin rpy="0 0 0" xyz="0.012 0 0"/>
  540.     <parent link="left_motor_hub_link"/>
  541.     <child link="left_axle_link"/>
  542.   </joint>
  543.   <link name="left_axle_link">
  544.     <inertial>
  545.       <mass value="0.001"/>
  546.       <origin xyz="0 0 0"/>
  547.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  548.     </inertial>
  549.     <visual>
  550.       <origin rpy="0 0 0" xyz="0 0 0"/>
  551.       <geometry>
  552.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/3706.dae" scale="0.0004  0.0004  0.0004"/>
  553.       </geometry>
  554.     </visual>
  555.     <collision>
  556.       <origin rpy="0 0 0" xyz="0 0 0"/>
  557.       <geometry>
  558.         <box size="0.048 0.0048 0.0048"/>
  559.       </geometry>
  560.     </collision>
  561.   </link>
  562.   <joint name="left_axle_left_rim_joint" type="fixed">
  563.     <origin rpy="0 0 0" xyz="0.02 0 0"/>
  564.     <parent link="left_axle_link"/>
  565.     <child link="left_rim_link"/>
  566.   </joint>
  567.   <link name="left_rim_link">
  568.     <inertial>
  569.       <mass value="0.003"/>
  570.       <origin xyz="0 0 0"/>
  571.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  572.     </inertial>
  573.     <visual>
  574.       <origin rpy="0 0 -1.570795" xyz="0 0 0"/>
  575.       <geometry>
  576.         <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale="0.0004  0.0004  0.0004"/>
  577.       </geometry>
  578.     </visual>
  579.     <collision>
  580.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  581.       <geometry>
  582.         <cylinder length="0" radius="0"/>
  583.       </geometry>
  584.     </collision>
  585.   </link>
  586.   <joint name="left_rim_left_tire_joint" type="fixed">
  587.     <origin rpy="0 0 0" xyz="0 0 0"/>
  588.     <parent link="left_rim_link"/>
  589.     <child link="left_tire_link"/>
  590.   </joint>
  591.   <link name="left_tire_link">
  592.     <inertial>
  593.       <mass value="0.01"/>
  594.       <origin xyz="0 0 0"/>
  595.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  596.     </inertial>
  597.     <visual>
  598.       <origin rpy="0 0 -1.570795" xyz="0 0 0"/>
  599.       <geometry>
  600.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/55976.dae" scale="0.0004  0.0004  0.0004"/>
  601.       </geometry>
  602.     </visual>
  603.     <collision>
  604.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  605.       <geometry>
  606.         <cylinder length="0.026" radius="0.028"/>
  607.       </geometry>
  608.     </collision>
  609.   </link>
  610.   <joint name="right_rail_right_motor_joint" type="fixed">
  611.     <origin rpy="0 3.14159 0" xyz="0.016 0.024 0.008"/>
  612.     <parent link="right_rail_link"/>
  613.     <child link="right_motor_link"/>
  614.   </joint>
  615.   <link name="right_motor_link">
  616.     <inertial>
  617.       <mass value="0.08"/>
  618.       <origin xyz="0 -0.124 0.008"/>
  619.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  620.     </inertial>
  621.     <visual>
  622.       <origin rpy="0 0 0" xyz="0 0 0"/>
  623.       <geometry>
  624.         <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale="0.0004  0.0004  0.0004"/>
  625.       </geometry>
  626.     </visual>
  627.     <collision>
  628.       <origin rpy="0 0 0" xyz="0 -0.0424 -0.011"/>
  629.       <geometry>
  630.         <box size="0.04 0.108 0.046"/>
  631.       </geometry>
  632.     </collision>
  633.   </link>
  634.   <joint name="right_motor_right_motor_hub_joint" type="continuous">
  635.     <origin rpy="0 0 0" xyz="0 0 0"/>
  636.     <axis xyz="1 0 0"/>
  637.     <parent link="right_motor_link"/>
  638.     <child link="right_motor_hub_link"/>
  639.     <!-- TODO: What's this? -->
  640.     <joint_properties damping="0.0" friction="0.0"/>
  641.     <limit effort="100" velocity="100"/>
  642.   </joint>
  643.   <link name="right_motor_hub_link">
  644.     <inertial>
  645.       <mass value="0.002"/>
  646.       <origin xyz="0 0 0"/>
  647.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  648.     </inertial>
  649.     <visual>
  650.       <origin rpy="0 0 0" xyz="0 0 0"/>
  651.       <geometry>
  652.         <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale="0.0004  0.0004  0.0004"/>
  653.       </geometry>
  654.     </visual>
  655.     <collision>
  656.       <origin rpy="0 0 0" xyz="0 0 0"/>
  657.       <geometry>
  658.         <box size="0 0 0"/>
  659.       </geometry>
  660.     </collision>
  661.   </link>
  662.   <transmission name="right_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
  663.     <actuator name="right_wheel_motor"/>
  664.     <joint name="right_motor_right_motor_hub_joint"/>
  665.     <mechanicalReduction>1.0</mechanicalReduction>
  666.   </transmission>
  667.   <joint name="right_motor_hub_right_axle_joint" type="fixed">
  668.     <origin rpy="0 0 0" xyz="-0.012 0 0"/>
  669.     <parent link="right_motor_hub_link"/>
  670.     <child link="right_axle_link"/>
  671.   </joint>
  672.   <link name="right_axle_link">
  673.     <inertial>
  674.       <mass value="0.001"/>
  675.       <origin xyz="0 0 0"/>
  676.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  677.     </inertial>
  678.     <visual>
  679.       <origin rpy="0 0 0" xyz="0 0 0"/>
  680.       <geometry>
  681.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/3706.dae" scale="0.0004  0.0004  0.0004"/>
  682.       </geometry>
  683.     </visual>
  684.     <collision>
  685.       <origin rpy="0 0 0" xyz="0 0 0"/>
  686.       <geometry>
  687.         <box size="0.048 0.0048 0.0048"/>
  688.       </geometry>
  689.     </collision>
  690.   </link>
  691.   <joint name="right_axle_right_rim_joint" type="fixed">
  692.     <origin rpy="0 0 0" xyz="-0.02 0 0"/>
  693.     <parent link="right_axle_link"/>
  694.     <child link="right_rim_link"/>
  695.   </joint>
  696.   <link name="right_rim_link">
  697.     <inertial>
  698.       <mass value="0.003"/>
  699.       <origin xyz="0 0 0"/>
  700.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  701.     </inertial>
  702.     <visual>
  703.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  704.       <geometry>
  705.         <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale="0.0004  0.0004  0.0004"/>
  706.       </geometry>
  707.     </visual>
  708.     <collision>
  709.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  710.       <geometry>
  711.         <cylinder length="0" radius="0"/>
  712.       </geometry>
  713.     </collision>
  714.   </link>
  715.   <joint name="right_rim_right_tire_joint" type="fixed">
  716.     <origin rpy="0 0 0" xyz="0 0 0"/>
  717.     <parent link="right_rim_link"/>
  718.     <child link="right_tire_link"/>
  719.   </joint>
  720.   <link name="right_tire_link">
  721.     <inertial>
  722.       <mass value="0.01"/>
  723.       <origin xyz="0 0 0"/>
  724.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  725.     </inertial>
  726.     <visual>
  727.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  728.       <geometry>
  729.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/55976.dae" scale="0.0004  0.0004  0.0004"/>
  730.       </geometry>
  731.     </visual>
  732.     <collision>
  733.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  734.       <geometry>
  735.         <cylinder length="0.026" radius="0.028"/>
  736.       </geometry>
  737.     </collision>
  738.   </link>
  739.   <joint name="base_peg_caster_beam_joint" type="fixed">
  740.     <origin rpy="0 0 0" xyz="0 -0.12 0.008"/>
  741.     <parent link="base_peg_link"/>
  742.     <child link="caster_beam_link"/>
  743.   </joint>
  744.   <link name="caster_beam_link">
  745.     <inertial>
  746.       <mass value="0.002"/>
  747.       <origin xyz="0 0 0"/>
  748.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  749.     </inertial>
  750.     <visual>
  751.       <origin rpy="0 1.570795 1.570795" xyz="0 0 0"/>
  752.       <geometry>
  753.         <mesh filename="package://nxt_description/meshes/parts/32524.dae" scale="0.0004  0.0004  0.0004"/>
  754.       </geometry>
  755.     </visual>
  756.     <collision>
  757.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  758.       <geometry>
  759.         <box size="0.008 0.056 0.008"/>
  760.       </geometry>
  761.     </collision>
  762.   </link>
  763.   <joint name="caster_beam_left_bush_joint" type="fixed">
  764.     <origin rpy="0 0 0" xyz="-0.02 0.008 0"/>
  765.     <parent link="caster_beam_link"/>
  766.     <child link="left_bush_link"/>
  767.   </joint>
  768.   <link name="left_bush_link">
  769.     <inertial>
  770.       <mass value="0.002"/>
  771.       <origin xyz="0 0 0"/>
  772.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  773.     </inertial>
  774.     <visual>
  775.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  776.       <geometry>
  777.         <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale="0.0004  0.0004  0.0004"/>
  778.       </geometry>
  779.     </visual>
  780.     <collision>
  781.       <origin rpy="0 0 0" xyz="0 0 0"/>
  782.       <geometry>
  783.         <box size="0 0 0"/>
  784.       </geometry>
  785.     </collision>
  786.   </link>
  787.   <joint name="caster_beam_right_bush_joint" type="fixed">
  788.     <origin rpy="0 0 0" xyz="0.02 0.008 0"/>
  789.     <parent link="caster_beam_link"/>
  790.     <child link="right_bush_link"/>
  791.   </joint>
  792.   <link name="right_bush_link">
  793.     <inertial>
  794.       <mass value="0.002"/>
  795.       <origin xyz="0 0 0"/>
  796.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  797.     </inertial>
  798.     <visual>
  799.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  800.       <geometry>
  801.         <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale="0.0004  0.0004  0.0004"/>
  802.       </geometry>
  803.     </visual>
  804.     <collision>
  805.       <origin rpy="0 0 0" xyz="0 0 0"/>
  806.       <geometry>
  807.         <box size="0 0 0"/>
  808.       </geometry>
  809.     </collision>
  810.   </link>
  811.   <joint name="caster_beam_cross_block_joint" type="fixed">
  812.     <origin rpy="0 0 0" xyz="0 -0.008 0"/>
  813.     <parent link="caster_beam_link"/>
  814.     <child link="cross_block_link"/>
  815.   </joint>
  816.   <link name="cross_block_link">
  817.     <inertial>
  818.       <mass value="0.002"/>
  819.       <origin xyz="0 0 0"/>
  820.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  821.     </inertial>
  822.     <visual>
  823.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  824.       <geometry>
  825.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/32184.dae" scale="0.0004  0.0004  0.0004"/>
  826.       </geometry>
  827.     </visual>
  828.     <collision>
  829.       <origin rpy="0 0 0" xyz="0 0 0"/>
  830.       <geometry>
  831.         <box size="0.024 0.008 0.008"/>
  832.       </geometry>
  833.     </collision>
  834.   </link>
  835.   <joint name="cross_block_caster_rot_axis_joint" type="continuous">
  836.     <origin rpy="0 0 0" xyz="0 0 -0.008"/>
  837.     <parent link="cross_block_link"/>
  838.     <child link="caster_rot_axis_link"/>
  839.     <axis xyz="0 0 1"/>
  840.     <!-- TODO: What's this? -->
  841.     <dynamics damping="0.0" friction="0.0"/>
  842.     <limit effort="100" velocity="100"/>
  843.   </joint>
  844.   <transmission name="caster_support_trans" type="pr2_mechanism_model/SimpleTransmission">
  845.     <actuator name="caster_support_motor"/>
  846.     <joint name="cross_block_caster_rot_axis_joint"/>
  847.     <mechanicalReduction>1.0</mechanicalReduction>
  848.   </transmission>
  849.   <link name="caster_rot_axis_link">
  850.     <inertial>
  851.       <mass value="0.001"/>
  852.       <origin xyz="0 0 0"/>
  853.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  854.     </inertial>
  855.     <visual>
  856.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  857.       <geometry>
  858.         <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale="0.0004  0.0004  0.0004"/>
  859.       </geometry>
  860.     </visual>
  861.     <collision>
  862.       <origin rpy="0 0 0" xyz="0 0 0"/>
  863.       <geometry>
  864.         <box size="0 0 0"/>
  865.       </geometry>
  866.     </collision>
  867.   </link>
  868.   <joint name="caster_rot_axis_top_bush_joint" type="fixed">
  869.     <origin rpy="0 0 0" xyz="0 0 0.014"/>
  870.     <parent link="caster_rot_axis_link"/>
  871.     <child link="top_bush_link"/>
  872.   </joint>
  873.   <link name="top_bush_link">
  874.     <inertial>
  875.       <mass value="0.002"/>
  876.       <origin xyz="0 0 0"/>
  877.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  878.     </inertial>
  879.     <visual>
  880.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  881.       <geometry>
  882.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  883.       </geometry>
  884.     </visual>
  885.     <collision>
  886.       <origin rpy="0 0 0" xyz="0 0 0"/>
  887.       <geometry>
  888.         <box size="0.008 0.008 0.004"/>
  889.       </geometry>
  890.     </collision>
  891.   </link>
  892.   <joint name="caster_rot_axis_middle_bush_joint" type="fixed">
  893.     <origin rpy="0 0 0" xyz="0 0 0.002"/>
  894.     <parent link="caster_rot_axis_link"/>
  895.     <child link="middle_bush_link"/>
  896.   </joint>
  897.   <link name="middle_bush_link">
  898.     <inertial>
  899.       <mass value="0.002"/>
  900.       <origin xyz="0 0 0"/>
  901.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  902.     </inertial>
  903.     <visual>
  904.       <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
  905.       <geometry>
  906.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  907.       </geometry>
  908.     </visual>
  909.     <collision>
  910.       <origin rpy="0 0 0" xyz="0 0 0"/>
  911.       <geometry>
  912.         <box size="0.008 0.008 0.004"/>
  913.       </geometry>
  914.     </collision>
  915.   </link>
  916.   <joint name="caster_rot_axis_top_cross_block_joint" type="fixed">
  917.     <origin rpy="0 0 0" xyz="0 0 -0.004"/>
  918.     <parent link="caster_rot_axis_link"/>
  919.     <child link="top_cross_block_link"/>
  920.   </joint>
  921.   <link name="top_cross_block_link">
  922.     <inertial>
  923.       <mass value="0.002"/>
  924.       <origin xyz="0 0 0"/>
  925.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  926.     </inertial>
  927.     <visual>
  928.       <origin rpy="1.570795 1.570795 0" xyz="0 0 0"/>
  929.       <geometry>
  930.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  931.       </geometry>
  932.     </visual>
  933.     <collision>
  934.       <origin rpy="0 0 0" xyz="0 0.004 0"/>
  935.       <geometry>
  936.         <box size="0 0 0"/>
  937.       </geometry>
  938.     </collision>
  939.   </link>
  940.   <joint name="caster_rot_axis_bottom_cross_block_joint" type="fixed">
  941.     <origin rpy="0 0 0" xyz="0 0 -0.012"/>
  942.     <parent link="caster_rot_axis_link"/>
  943.     <child link="bottom_cross_block_link"/>
  944.   </joint>
  945.   <link name="bottom_cross_block_link">
  946.     <inertial>
  947.       <mass value="0.002"/>
  948.       <origin xyz="0 0 0"/>
  949.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  950.     </inertial>
  951.     <visual>
  952.       <origin rpy="1.570795 1.570795 0" xyz="0 0 0"/>
  953.       <geometry>
  954.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  955.       </geometry>
  956.     </visual>
  957.     <collision>
  958.       <origin rpy="0 0 0" xyz="0 0.004 0"/>
  959.       <geometry>
  960.         <box size="0 0 0"/>
  961.       </geometry>
  962.     </collision>
  963.   </link>
  964.   <joint name="top_cross_block_top_cross_axle_joint" type="fixed">
  965.     <origin rpy="0 0 0" xyz="0 0.008 0"/>
  966.     <parent link="top_cross_block_link"/>
  967.     <child link="top_cross_axle_link"/>
  968.   </joint>
  969.   <link name="top_cross_axle_link">
  970.     <inertial>
  971.       <mass value="0.001"/>
  972.       <origin xyz="0 0 0"/>
  973.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  974.     </inertial>
  975.     <visual>
  976.       <origin rpy="0 0 0" xyz="0 0 0"/>
  977.       <geometry>
  978.         <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale="0.0004  0.0004  0.0004"/>
  979.       </geometry>
  980.     </visual>
  981.     <collision>
  982.       <origin rpy="0 0 0" xyz="0 0 0"/>
  983.       <geometry>
  984.         <box size="0 0 0"/>
  985.       </geometry>
  986.     </collision>
  987.   </link>
  988.   <joint name="bottom_cross_block_bottom_cross_axle_joint" type="fixed">
  989.     <origin rpy="0 0 0" xyz="0 0.008 0"/>
  990.     <parent link="bottom_cross_block_link"/>
  991.     <child link="bottom_cross_axle_link"/>
  992.   </joint>
  993.   <link name="bottom_cross_axle_link">
  994.     <inertial>
  995.       <mass value="0.001"/>
  996.       <origin xyz="0 0 0"/>
  997.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  998.     </inertial>
  999.     <visual>
  1000.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1001.       <geometry>
  1002.         <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale="0.0004  0.0004  0.0004"/>
  1003.       </geometry>
  1004.     </visual>
  1005.     <collision>
  1006.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1007.       <geometry>
  1008.         <box size="0 0 0"/>
  1009.       </geometry>
  1010.     </collision>
  1011.   </link>
  1012.   <joint name="top_cross_axle_top_left_bush_joint" type="fixed">
  1013.     <origin rpy="0 0 0" xyz="-0.006 0 0"/>
  1014.     <parent link="top_cross_axle_link"/>
  1015.     <child link="top_left_bush_link"/>
  1016.   </joint>
  1017.   <link name="top_left_bush_link">
  1018.     <inertial>
  1019.       <mass value="0.001"/>
  1020.       <origin xyz="0 0 0"/>
  1021.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1022.     </inertial>
  1023.     <visual>
  1024.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  1025.       <geometry>
  1026.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  1027.       </geometry>
  1028.     </visual>
  1029.     <collision>
  1030.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1031.       <geometry>
  1032.         <box size="0 0 0"/>
  1033.       </geometry>
  1034.     </collision>
  1035.   </link>
  1036.   <joint name="top_cross_axle_top_right_bush_joint" type="fixed">
  1037.     <origin rpy="0 0 0" xyz="0.006 0 0"/>
  1038.     <parent link="top_cross_axle_link"/>
  1039.     <child link="top_right_bush_link"/>
  1040.   </joint>
  1041.   <link name="top_right_bush_link">
  1042.     <inertial>
  1043.       <mass value="0.001"/>
  1044.       <origin xyz="0 0 0"/>
  1045.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1046.     </inertial>
  1047.     <visual>
  1048.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  1049.       <geometry>
  1050.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  1051.       </geometry>
  1052.     </visual>
  1053.     <collision>
  1054.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1055.       <geometry>
  1056.         <box size="0 0 0"/>
  1057.       </geometry>
  1058.     </collision>
  1059.   </link>
  1060.   <joint name="bottom_cross_axle_bottom_left_bush_joint" type="fixed">
  1061.     <origin rpy="0 0 0" xyz="-0.006 0 0"/>
  1062.     <parent link="bottom_cross_axle_link"/>
  1063.     <child link="bottom_left_bush_link"/>
  1064.   </joint>
  1065.   <link name="bottom_left_bush_link">
  1066.     <inertial>
  1067.       <mass value="0.001"/>
  1068.       <origin xyz="0 0 0"/>
  1069.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1070.     </inertial>
  1071.     <visual>
  1072.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  1073.       <geometry>
  1074.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  1075.       </geometry>
  1076.     </visual>
  1077.     <collision>
  1078.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1079.       <geometry>
  1080.         <box size="0 0 0"/>
  1081.       </geometry>
  1082.     </collision>
  1083.   </link>
  1084.   <joint name="bottom_cross_axle_bottom_right_bush_joint" type="fixed">
  1085.     <origin rpy="0 0 0" xyz="0.006 0 0"/>
  1086.     <parent link="bottom_cross_axle_link"/>
  1087.     <child link="bottom_right_bush_link"/>
  1088.   </joint>
  1089.   <link name="bottom_right_bush_link">
  1090.     <inertial>
  1091.       <mass value="0.001"/>
  1092.       <origin xyz="0 0 0"/>
  1093.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1094.     </inertial>
  1095.     <visual>
  1096.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  1097.       <geometry>
  1098.         <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale="0.0004  0.0004  0.0004"/>
  1099.       </geometry>
  1100.     </visual>
  1101.     <collision>
  1102.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1103.       <geometry>
  1104.         <box size="0 0 0"/>
  1105.       </geometry>
  1106.     </collision>
  1107.   </link>
  1108.   <joint name="bottom_cross_axle_left_L_caster_beam_joint" type="fixed">
  1109.     <origin rpy="0 0 0" xyz="-0.012 -0.024 0"/>
  1110.     <parent link="bottom_cross_axle_link"/>
  1111.     <child link="left_L_caster_beam_link"/>
  1112.   </joint>
  1113.   <link name="left_L_caster_beam_link">
  1114.     <inertial>
  1115.       <mass value="0.002"/>
  1116.       <origin xyz="0 0 0"/>
  1117.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1118.     </inertial>
  1119.     <visual>
  1120.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  1121.       <geometry>
  1122.         <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale="0.0004  0.0004  0.0004"/>
  1123.       </geometry>
  1124.     </visual>
  1125.     <collision>
  1126.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1127.       <geometry>
  1128.         <box size="0 0 0"/>
  1129.       </geometry>
  1130.     </collision>
  1131.   </link>
  1132.   <joint name="bottom_cross_axle_right_L_caster_beam_joint" type="fixed">
  1133.     <origin rpy="0 0 0" xyz="0.012 -0.024 0"/>
  1134.     <parent link="bottom_cross_axle_link"/>
  1135.     <child link="right_L_caster_beam_link"/>
  1136.   </joint>
  1137.   <link name="right_L_caster_beam_link">
  1138.     <inertial>
  1139.       <mass value="0.002"/>
  1140.       <origin xyz="0 0 0"/>
  1141.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1142.     </inertial>
  1143.     <visual>
  1144.       <origin rpy="0 -1.570795 0" xyz="0 0 0"/>
  1145.       <geometry>
  1146.         <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale="0.0004  0.0004  0.0004"/>
  1147.       </geometry>
  1148.     </visual>
  1149.     <collision>
  1150.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1151.       <geometry>
  1152.         <box size="0 0 0"/>
  1153.       </geometry>
  1154.     </collision>
  1155.   </link>
  1156.   <joint name="bottom_cross_axle_caster_axle_joint" type="fixed">
  1157.     <origin rpy="0 0 0" xyz="0 -0.024 0"/>
  1158.     <parent link="bottom_cross_axle_link"/>
  1159.     <child link="caster_axle_link"/>
  1160.   </joint>
  1161.   <link name="caster_axle_link">
  1162.     <inertial>
  1163.       <mass value="0.001"/>
  1164.       <origin xyz="0 0 0"/>
  1165.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1166.     </inertial>
  1167.     <visual>
  1168.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1169.       <geometry>
  1170.         <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale="0.0004  0.0004  0.0004"/>
  1171.       </geometry>
  1172.     </visual>
  1173.     <collision>
  1174.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1175.       <geometry>
  1176.         <box size="0 0 0"/>
  1177.       </geometry>
  1178.     </collision>
  1179.   </link>
  1180.   <joint name="caster_axle_caster_rim_joint" type="continuous">
  1181.     <origin rpy="0 0 3.14159" xyz="0 0 0"/>
  1182.     <parent link="caster_axle_link"/>
  1183.     <child link="caster_rim_link"/>
  1184.     <axis xyz="1 0 0"/>
  1185.     <!-- TODO: What's this?
  1186.            <dynamics damping="0.0" friction="0.0" />
  1187.            <limit effort="100" velocity="100" /> -->
  1188.   </joint>
  1189.   <transmission name="caster_trans" type="pr2_mechanism_model/SimpleTransmission">
  1190.     <actuator name="caster_motor"/>
  1191.     <joint name="caster_axle_caster_rim_joint"/>
  1192.     <mechanicalReduction>1.0</mechanicalReduction>
  1193.   </transmission>
  1194.   <link name="caster_rim_link">
  1195.     <inertial>
  1196.       <mass value="0.002"/>
  1197.       <origin xyz="0 0 0"/>
  1198.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1199.     </inertial>
  1200.     <visual>
  1201.       <origin rpy="0 0 1.570795" xyz="0 0 0"/>
  1202.       <geometry>
  1203.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/55981.dae" scale="0.0004  0.0004  0.0004"/>
  1204.       </geometry>
  1205.     </visual>
  1206.     <collision>
  1207.       <origin rpy="0 0 0" xyz="0 0 0"/>
  1208.       <geometry>
  1209.         <box size="0 0 0"/>
  1210.       </geometry>
  1211.     </collision>
  1212.   </link>
  1213.   <joint name="caster_rim_caster_tire_joint" type="fixed">
  1214.     <origin rpy="0 0 0" xyz="0 0 0"/>
  1215.     <parent link="caster_rim_link"/>
  1216.     <child link="caster_tire_link"/>
  1217.   </joint>
  1218.   <link name="caster_tire_link">
  1219.     <inertial>
  1220.       <mass value="0.003"/>
  1221.       <origin xyz="0 0 0"/>
  1222.       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
  1223.     </inertial>
  1224.     <visual>
  1225.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  1226.       <geometry>
  1227.         <mesh filename="package://nxt_robot_simple_car/meshes/parts/30648.dae" scale="0.0004  0.0004  0.0004"/>
  1228.       </geometry>
  1229.     </visual>
  1230.     <collision>
  1231.       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
  1232.       <geometry>
  1233.         <cylinder length="0.014" radius="0.012"/>
  1234.       </geometry>
  1235.     </collision>
  1236.   </link>
  1237.   <gazebo reference="caster_tire_link">
  1238.     <mu1 value="100.0"/>
  1239.     <mu2 value="100.0"/>
  1240.     <kp value="1000000.0"/>
  1241.     <kd value="1.0"/>
  1242.   </gazebo>
  1243.   <gazebo reference="left_tire_link">
  1244.     <mu1 value="100.0"/>
  1245.     <mu2 value="100.0"/>
  1246.     <kp value="1000000.0"/>
  1247.     <kd value="1.0"/>
  1248.   </gazebo>
  1249.   <gazebo reference="right_tire_link">
  1250.     <mu1 value="100.0"/>
  1251.     <mu2 value="100.0"/>
  1252.     <kp value="1000000.0"/>
  1253.     <kd value="1.0"/>
  1254.   </gazebo>
  1255.   <gazebo>
  1256.     <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
  1257.       <alwaysOn>true</alwaysOn>
  1258.       <update>100</update>
  1259.       <updateRate>100.0</updateRate>
  1260.       <leftJoint>left_motor_left_motor_hub_joint</leftJoint>
  1261.       <rightJoint>right_motor_right_motor_hub_joint</rightJoint>
  1262.       <wheelSeparation>0.11</wheelSeparation>
  1263.       <wheelDiameter>0.056</wheelDiameter>
  1264.       <torque>0.05</torque>
  1265.       <interface:position name="position_iface_0"/>
  1266.       <robotNamespace>/</robotNamespace>
  1267.       <topicName>cmd_vel</topicName>
  1268.     </controller:nxt_diff_plugin>
  1269.     <canonicalBody>base_footprint</canonicalBody>
  1270.     <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  1271.       <alwaysOn>true</alwaysOn>
  1272.       <updateRate>100.0</updateRate>
  1273.       <interface:audio name="gazebo_ros_controller_manager_dummy_iface"/>
  1274.     </controller:gazebo_ros_controller_manager>
  1275.   </gazebo>
  1276.   <!-- displayRays="fan|lines|false" -->
  1277.   <joint name="brick_us_left_axle_joiner_joint" type="fixed">
  1278.     <origin rpy="0 0 0" xyz="0.008 0.056 0.008"/>
  1279.     <parent link="brick_link"/>
  1280.     <child link="us_left_axle_joiner_link"/>
  1281.   </joint>
  1282.   <link name="us_left_axle_joiner_link">
  1283.     <inertial>
  1284.       <mass value="0.002"/>
  1285.       <origin xyz="0 0 0"/>
  1286.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1287.     </inertial>
  1288.     <visual>
  1289.       <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
  1290.       <geometry>
  1291.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  1292.       </geometry>
  1293.     </visual>
  1294.     <collision>
  1295.       <origin rpy="0 0 0" xyz="0 -0.004 0"/>
  1296.       <geometry>
  1297.         <box size="0.008 0.016 0.008"/>
  1298.       </geometry>
  1299.     </collision>
  1300.   </link>
  1301.   <joint name="brick_us_right_axle_joiner_joint" type="fixed">
  1302.     <origin rpy="0 0 0" xyz="-0.008 0.056 0.008"/>
  1303.     <parent link="brick_link"/>
  1304.     <child link="us_right_axle_joiner_link"/>
  1305.   </joint>
  1306.   <link name="us_right_axle_joiner_link">
  1307.     <inertial>
  1308.       <mass value="0.002"/>
  1309.       <origin xyz="0 0 0"/>
  1310.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1311.     </inertial>
  1312.     <visual>
  1313.       <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
  1314.       <geometry>
  1315.         <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale="0.0004  0.0004  0.0004"/>
  1316.       </geometry>
  1317.     </visual>
  1318.     <collision>
  1319.       <origin rpy="0 0 0" xyz="0 -0.004 0"/>
  1320.       <geometry>
  1321.         <box size="0.008 0.016 0.008"/>
  1322.       </geometry>
  1323.     </collision>
  1324.   </link>
  1325.   <joint name="brick_us_bent_beam_joint" type="fixed">
  1326.     <origin rpy="0.925024504 0 0" xyz="0 0.08 0.008"/>
  1327.     <parent link="brick_link"/>
  1328.     <child link="us_bent_beam_link"/>
  1329.   </joint>
  1330.   <link name="us_bent_beam_link">
  1331.     <inertial>
  1332.       <mass value="0.002"/>
  1333.       <origin xyz="0 0 0"/>
  1334.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1335.     </inertial>
  1336.     <visual>
  1337.       <origin rpy="3.14159 -1.570795 0" xyz="0 0.04 0"/>
  1338.       <geometry>
  1339.         <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale="0.0004  0.0004  0.0004"/>
  1340.       </geometry>
  1341.     </visual>
  1342.     <collision>
  1343.       <origin rpy="0 0 0" xyz="0 0.02 0"/>
  1344.       <geometry>
  1345.         <box size="0.008 0.048 0.008"/>
  1346.       </geometry>
  1347.     </collision>
  1348.   </link>
  1349.   <joint name="us_bent_beam_us_left_L_joint" type="fixed">
  1350.     <origin rpy="0 0 0" xyz="0.008 0.04 0"/>
  1351.     <parent link="us_bent_beam_link"/>
  1352.     <child link="us_left_L_link"/>
  1353.   </joint>
  1354.   <link name="us_left_L_link">
  1355.     <inertial>
  1356.       <mass value="0.002"/>
  1357.       <origin xyz="0 0 0"/>
  1358.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1359.     </inertial>
  1360.     <visual>
  1361.       <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0.032"/>
  1362.       <geometry>
  1363.         <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale="0.0004  0.0004  0.0004"/>
  1364.       </geometry>
  1365.     </visual>
  1366.     <collision>
  1367.       <origin rpy="1.570795 0 0" xyz="0 0 0.016"/>
  1368.       <geometry>
  1369.         <box size="0.008 0.04 0.008"/>
  1370.       </geometry>
  1371.     </collision>
  1372.   </link>
  1373.   <joint name="us_bent_beam_us_right_L_joint" type="fixed">
  1374.     <origin rpy="0 0 0" xyz="-0.008 0.04 0"/>
  1375.     <parent link="us_bent_beam_link"/>
  1376.     <child link="us_right_L_link"/>
  1377.   </joint>
  1378.   <link name="us_right_L_link">
  1379.     <inertial>
  1380.       <mass value="0.002"/>
  1381.       <origin xyz="0 0 0"/>
  1382.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1383.     </inertial>
  1384.     <visual>
  1385.       <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0.032"/>
  1386.       <geometry>
  1387.         <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale="0.0004  0.0004  0.0004"/>
  1388.       </geometry>
  1389.     </visual>
  1390.     <collision>
  1391.       <origin rpy="1.570795 0 0" xyz="0 0 0.016"/>
  1392.       <geometry>
  1393.         <box size="0.008 0.04 0.008"/>
  1394.       </geometry>
  1395.     </collision>
  1396.   </link>
  1397.   <joint name="us_bent_beam_us_ultrasonic_sensor_joint" type="fixed">
  1398.     <origin rpy="1.570795 -1.570795 0" xyz="0 0.04 0.024"/>
  1399.     <parent link="us_bent_beam_link"/>
  1400.     <child link="us_ultrasonic_sensor_link"/>
  1401.   </joint>
  1402.   <link name="us_ultrasonic_sensor_link">
  1403.     <inertial>
  1404.       <mass value="0.025"/>
  1405.       <origin xyz="0.008 -0.016 0"/>
  1406.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1407.     </inertial>
  1408.     <visual>
  1409.       <origin rpy="-3.14159 0 -1.570795" xyz="0 0 0"/>
  1410.       <geometry>
  1411.         <mesh filename="package://nxt_description/meshes/parts/53792.dae" scale="0.0004  0.0004  0.0004"/>
  1412.       </geometry>
  1413.     </visual>
  1414.     <collision>
  1415.       <origin rpy="0 0 0" xyz="0.008 0 -0.012"/>
  1416.       <geometry>
  1417.         <box size="0.043 0.055 0.032"/>
  1418.       </geometry>
  1419.     </collision>
  1420.   </link>
  1421.   <joint name="us_ultrasonic_sensor_us_ultrasonic_sensor_rays_joint" type="fixed">
  1422.     <origin rpy="0 0.0872663888889 0" xyz="0.112 0 0.032"/>
  1423.     <parent link="us_ultrasonic_sensor_link"/>
  1424.     <child link="us_ultrasonic_sensor_rays_link"/>
  1425.   </joint>
  1426.   <link name="us_ultrasonic_sensor_rays_link">
  1427.     <!-- dummy link needed because rays position is calculated IRT mass center -->
  1428.     <inertial>
  1429.       <mass value="200"/>
  1430.       <origin xyz="0 0 0"/>
  1431.       <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.002"/>
  1432.     </inertial>
  1433.   </link>
  1434.   <gazebo reference="us_ultrasonic_sensor_link">
  1435.     <sensor:ray name="ultrasonic_sensor">
  1436.       <displayRays>lines</displayRays>
  1437.       <rayCount>7</rayCount>
  1438.       <rangeCount>7</rangeCount>
  1439.       <verticalRayCount>5</verticalRayCount>
  1440.       <verticalRangeCount>5</verticalRangeCount>
  1441.       <minAngle>-30.0</minAngle>
  1442.       <verticalMinAngle>-5.0</verticalMinAngle>
  1443.       <maxAngle>30.0</maxAngle>
  1444.       <verticalMaxAngle>5.0</verticalMaxAngle>
  1445.       <minRange>0.15</minRange>
  1446.       <maxRange>1.8</maxRange>
  1447.       <resRange>0.005</resRange>
  1448.       <updateRate>5</updateRate>
  1449.       <controller:nxt_ultrasonic_plugin name="nxt_ultrasonic_sensor_controller" plugin="libnxt_ultrasonic_plugin.so">
  1450.         <gaussianNoise>0.005</gaussianNoise>
  1451.         <alwaysOn>true</alwaysOn>
  1452.         <updateRate>5</updateRate>
  1453.         <topicName>ultrasonic_sensor</topicName>
  1454.         <frameId>ultrasonic_sensor_link</frameId>
  1455.         <fov>60</fov>
  1456.         <minRange>0.15</minRange>
  1457.         <maxRange>1.8</maxRange>
  1458.       </controller:nxt_ultrasonic_plugin>
  1459.     </sensor:ray>
  1460.   </gazebo>
  1461. </robot>
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